Mem_Fac_Eng_OU_43_32.pdf 2.09 MB
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
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.
Memoirs of the Faculty of Engineering, Okayama University
Faculty of Engineering, Okayama University
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