Trajectory tracking control of a car-trailer system

This paper presents the experimental results of the tracking control of a car-trailer system. The proposed scheme involves three steps: 1) generate a path off-line using a path space iterative algorithm; 2) linearize the kinematic model about a trajectory which is constructed using the path; and 3) apply a time-varying linear quadratic regulator to track the trajectory. Experiments presented include parallel parking a car, docking a tractor-trailer vehicle, and parallel parking a double tractor-trailer vehicle.

[1]  Eduardo Sontag.  Control of systems without drift via generic loops , 1995, IEEE Trans. Autom. Control..

[2]  Richard M. Murray,et al.  STABILIZATION AND TRACKING FOR NONHOLONOMIC CONTROL SYSTEMS USING TIME-VARYING STATE FEEDBACK , 1992 .

[3]  H. Sussmann,et al.  A continuation method for nonholonomic path-finding problems , 1993, Proceedings of 32nd IEEE Conference on Decision and Control.

[4]  J. Meditch,et al.  Applied optimal control , 1972, IEEE Transactions on Automatic Control.

[5]  Richard M. Murray,et al.  A Mathematical Introduction to Robotic Manipulation , 1994 .

[6]  John T. Wen,et al.  A path space approach to nonholonomic motion planning in the presence of obstacles , 1997, IEEE Trans. Robotics Autom..

[7]  J. Canny,et al.  Nonholonomic Motion Planning , 1992 .

[8]  A. Divelbiss,et al.  Nonholonomic path planning with inequality constraints , 1993, Proceedings of 32nd IEEE Conference on Decision and Control.

[9]  Jo Yung Wong,et al.  Theory of ground vehicles , 1978 .

[10]  Frank L. Lewis,et al.  Optimal Control , 1986 .

[11]  Fumio Miyazaki,et al.  A stable tracking control method for an autonomous mobile robot , 1990, Proceedings., IEEE International Conference on Robotics and Automation.