Path tracking and stabilization for a reversing general 2-trailer configuration using a cascaded control approach
2016 (English)In: Intelligent Vehicles Symposium (IV), 2016 IEEE, Institute of Electrical and Electronics Engineers (IEEE), 2016, 1156-1161 p.Conference paper (Refereed)
In this paper a cascaded approach for stabilizationand path tracking of a general 2-trailer vehicle configurationwith an off-axle hitching is presented. A low level LinearQuadratic controller is used for stabilization of the internalangles while a pure pursuit path tracking controller is used ona higher level to handle the path tracking. Piecewise linearityis the only requirement on the control reference which makesthe design of reference paths very general. A Graphical UserInterface is designed to make it easy for a user to design controlreferences for complex manoeuvres given some representationof the surroundings. The approach is demonstrated with challengingpath following scenarios both in simulation and on asmall scale test platform.
Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2016. 1156-1161 p.
cascade control, control system synthesis, graphical user interfaces, linear quadratic control, mobile robot, path planning, piecewise linear techniques
IdentifiersURN: urn:nbn:se:liu:diva-130950DOI: 10.1109/IVS.2016.7535535ISBN: 978-1-5090-1821-5ISBN: 978-1-5090-1822-2OAI: oai:DiVA.org:liu-130950DiVA: diva2:957204
2016 IEEE Intelligent Vehicles Symposium, Gothenburg, Sweden, June 19-22, 2016