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|Title:||Asymptotic parking of general two-trailer systems leveraging singularity||Authors:||Huang, Xiucai
|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. https://dx.doi.org/10.1109/TIE.2019.2942578||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.||URI:||https://hdl.handle.net/10356/155206||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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