Existing methods for nonholonomic feedback stabilization can only be applied to exactly nilpotentizable or flat systems. In this paper, a car towing two off-hooked trailers is considered as a canonical example of robot that does not fall into the above class. We show that exponential convergence to arbitrary configurations can be obtained by means of an iterative steering technique based on a nonhomogeneous nilpotent approximation of the system. Simulation results illustrate the performance of the method.
Stabilization of the general two-trailer system / Vendittelli, Marilena; Oriolo, Giuseppe. - 2:(2000), pp. 1817-1823. (Intervento presentato al convegno ICRA 2000: IEEE International Conference on Robotics and Automation tenutosi a San Francisco, CA, USA nel 24 April 2000 through 28 April 2000).
Stabilization of the general two-trailer system
VENDITTELLI, Marilena;ORIOLO, Giuseppe
2000
Abstract
Existing methods for nonholonomic feedback stabilization can only be applied to exactly nilpotentizable or flat systems. In this paper, a car towing two off-hooked trailers is considered as a canonical example of robot that does not fall into the above class. We show that exponential convergence to arbitrary configurations can be obtained by means of an iterative steering technique based on a nonhomogeneous nilpotent approximation of the system. Simulation results illustrate the performance of the method.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
