Global Path-tracking for a Multi-steered General N-trailer
نویسندگان
چکیده
A multi-steered general n-trailer is considered in this work. A global pathtracking control strategy for the n-trailer is proposed. Three nonlinear control laws are used to solve the problem by means of a commutation scheme. This commutation scheme allows to avoid the singularities inherent to a feedback linearization scheme. Simulation results show that the proposed scheme has good performance. Copyright c ° 2002 IFAC
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تاریخ انتشار 2002