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Erschienen in:
2012 | OriginalPaper | Buchkapitel
Tracking Control Strategy for the Standard N-trailer Mobile Robot – A Geometrically Motivated Approach
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The paper is devoted to a novel feedback control strategy for the standard
N
-trailer robot kinematics expected to perform a tracking task for feasible reference trajectories. The control method proposed results from solely geometrical features of the vehicle kinematics formulated in a cascaded-form, and especially from the way the velocity components propagate along a vehicle kinematic chain. The control strategy is derived for the original vehicle configuration space not involving any model transformations or approximations. Formal considerations are examined by simulation results of backward tracking maneuvers for a 3-trailer vehicle.