Memoirs of the Faculty of Engineering, Okayama University 43巻
2009-01 発行
馬渕 周治
Dept. of Electrical and Electronic Engineering Okayama University
小西 正躬
Dept. of Electrical and Electronic Engineering Okayama University
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.