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Path following control for a reversing general 2-trailer system
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering.ORCID iD: 0000-0001-6957-2603
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering.
2016 (English)In: 2016 IEEE 55TH CONFERENCE ON DECISION AND CONTROL (CDC), IEEE , 2016, 2455-2461 p.Conference paper, Published paper (Refereed)
Abstract [en]

In order to meet the requirements for autonomous systems in real world applications, reliable path following controllers have to be designed to execute planned paths despite the existence of disturbances and model errors. In this paper we propose a Linear Quadratic controller for stabilizing a 2-trailer system with possible off-axle hitching around preplanned paths in backward motion. The controller design is based on a kinematic model of a general 2-trailer system including the possibility for off-axle hitching. Closed-loop stability is proved around a set of paths, typically chosen to represent the possible output from the path planner, using theory from linear differential inclusions. Using convex optimization tools a single quadratic Lyapunov function is computed for the entire set of paths.

Place, publisher, year, edition, pages
IEEE , 2016. 2455-2461 p.
Series
IEEE Conference on Decision and Control, ISSN 0743-1546
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-138327DOI: 10.1109/CDC.2016.7798630ISI: 000400048102102ISBN: 978-1-5090-1837-6 (print)OAI: oai:DiVA.org:liu-138327DiVA: diva2:1109032
Conference
55th IEEE Conference on Decision and Control (CDC)
Available from: 2017-06-13 Created: 2017-06-13 Last updated: 2017-06-13

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CiteExportLink to record
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Citation style
  • apa
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  • vancouver
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Language
  • de-DE
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