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TECHNICAL PAPERS

An Input-Output Linearization Approach to the Control of an n-Body Articulated Vehicle

[+] Author and Article Information
P. Bolzern

Politecnico di Milano, Dipartimento di Elettronica e Informazione, Piazza Leonardo da Vinci 32, 20133 Milano, Italye-mail: bolzern@elet.polimi.it

R. M. DeSantis

Ecole Polytechnique de Montreal, Dept. de Genie Electrique et Genie Informatique, 2900 Boul. Edouard-Mont Petit, C.P. 6079-A, Montreal, Quebec, Canadae-mail: desantis@auto.polymtl.ca

A. Locatelli

Politecnico di Milano, Dipartimento di Elettronica e Informazione, Piazza Leonardo da Vinci 32, 20133 Milano, Italye-mail: locatelli@elet.polimi.it

J. Dyn. Sys., Meas., Control 123(3), 309-316 (Jan 03, 2001) (8 pages) doi:10.1115/1.1387010 History: Received January 03, 2001
Copyright © 2001 by ASME
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References

Figures

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Derivation of the kinematic constraint (4)
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Lateral and orientation path-tracking offsets
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Derivation of geometric constraints at steady state for clockwise forward motion (σ=−1) or counterclockwise reverse motion (σ=1)
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Reverse tracking of a circular path with different closed-loop poles locations: (a) p1=p2=−0.2, (b) p1=p2=−0.05
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Steering angle δ in the reverse tracking of a circular path
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Contour lines of Jt as a function of initial values of ϑ2 (orientation of the trailer) and φ1 (angle between tractor and trailer): (a) ASFL controller, (b) IOL controller
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Contour lines of Jt as a function of initial values of ϑ2 (orientation of the trailer) and φ1 (angle between tractor and trailer): (a) ASFL controller, (b) IOL controller

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