Memoirs of the Faculty of Engineering, Okayama University

Published by Faculty of Enginerring, Okayama University

<Formerly known as>
Memoirs of the School of Engineering, Okayama University

<Availability>
Some items are not available because of decision by its author or publisher.

DOI : http://doi.org/10.18926/17835

Tracking Control of Combination Vehicles with PreviewFeedforward Compensation

Mabuchi, Shuji

Konishi, Masami

Imai, Jun Kaken ID researchmap

Mem_Fac_Eng_OU_43_32.pdf 2.09 MB

Abstract

A tractor-trailer vehicle in the factory might move on the route determined beforehand. However, automation of a tractor-trailer vehicle is difficult so that it is necessary to consider the nonlinearity of a vehicle and a trailer. In this research, the effective tracking control method of a tractor-trailer vehicle is proposed. The control method using time-state control form for a preview control is presented, and be applied a tractor-trailer vehicle with nonholonomic characteristics. Results of numerical experiments are presented to check effectiveness of the proposed control method.

ISSN

1349-6115

NCID

AA12014085

NAID

120002308736