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Title: Asymptotic parking of general two-trailer systems leveraging singularity
Authors: Huang, Xiucai
Li, Zhengguo
Wen, Changyun
He, Renjie
Keywords: Engineering::Electrical and electronic engineering
Issue Date: 2020
Source: Huang, X., Li, Z., Wen, C. & He, R. (2020). Asymptotic parking of general two-trailer systems leveraging singularity. IEEE Transactions On Industrial Electronics, 67(9), 7798-7807.
Project: SERC Grant 162 25 00036
Journal: IEEE Transactions on Industrial Electronics
Abstract: It is challenging to asymptotically stabilize a general two-trailer system consisting of a unicycle car and two identical trailers at a predefined pose efficiently because the system cannot be converted into a chain-form system. In this article, we design a two-phase parking strategy for such a system to park it at the target pose. The proposed strategy is inspired by a new insight on the singularity set of the general two-trailer system, i.e., the singularity set includes a subset that can be asymptotically stabilized directly. In the first phase, a tracking controller is adopted to let the state of the system approach the subset. A parking controller is then developed in the second phase to stabilize the system at the target pose asymptotically. Due to its simplicity and efficiency, the proposed controller has a good potential to be used in practice.
ISSN: 0278-0046
DOI: 10.1109/TIE.2019.2942578
Rights: © 2019 IEEE. All rights reserved.
Fulltext Permission: none
Fulltext Availability: No Fulltext
Appears in Collections:EEE Journal Articles

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