Memoirs of the Faculty of Engineering, Okayama University

Published by Faculty of Enginerring, Okayama University

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Memoirs of the School of Engineering, Okayama University

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

Tracking Control of Combination Vehicles with PreviewFeedforward Compensation

馬渕周治 Dept. of Electrical and Electronic Engineering Okayama University

小西正躬 Dept. of Electrical and Electronic Engineering Okayama University

今井純 Dept. of Electrical and Electronic Engineering Okayama University Kaken ID researchmap

Mem_Fac_Eng_OU_43_32.pdf 2.09 MB

抄録

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