非線形制御理論を用いた多重トレーラーの直線経路追従制御

Abstract

In this paper, we will design path tracking controller for an articulated vehicle with double trailers using time scale transformation and exact linearization technique, which are developed in nonlinear control theory. The controller will be designed in the following way. Firstly, we will describe the dynamics of the vehicle in a state equation whose time scale is the distance along the desired path (not the actual time t) . Then, we will exactly linearize this state equation using coordinate transformation and nonlinear feedback, and design a linear stabilizing controller for the linearized state equation.We will show, in the simulation, that the proposed controller works satisfactorily, and the articulated vehicle with double trailers follows the desired path even when it is moving backward.We can design path tracking controller for an articulated vehicle with multi trailers using the same strategy.