Design of steering mechanism and control of nonholonomic trailer systems

Yoshihiko Nakamura, Hideaki Ezaki, Yuegang Tan, Woo Jin Chung

Research output: Chapter in Book/Report/Conference proceedingConference contribution

18 Citations (Scopus)

Abstract

A wheeled mobile robot with trailers has been studied as a class of nonholonomic systems. It is proved that a system of a tractor and trailers with an appropriate connecting mechanism can be stabilized to desired positions via nonholonomic motion control. Trailers, on the other hand, have been developed and widely used in the industry. The main focus of industrial design is set on reducing tracking error from a reference trajectory. This paper attempts to bridge over the gap between these two approaches. We develop a design theory of trailer systems with passive steering. The designed systems show a good performance in practical path following, and accept the chained form transformation and nonlinear control strategies for nonholonomic systems.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages247-254
Number of pages8
Volume1
Publication statusPublished - 2000
Externally publishedYes
EventICRA 2000: IEEE International Conference on Robotics and Automation - San Francisco, CA, USA
Duration: 2000 Apr 242000 Apr 28

Other

OtherICRA 2000: IEEE International Conference on Robotics and Automation
CitySan Francisco, CA, USA
Period00/4/2400/4/28

Fingerprint

Light trailers
Motion control
Product design
Mobile robots
Trajectories
Industry

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Nakamura, Y., Ezaki, H., Tan, Y., & Chung, W. J. (2000). Design of steering mechanism and control of nonholonomic trailer systems. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 1, pp. 247-254)

Design of steering mechanism and control of nonholonomic trailer systems. / Nakamura, Yoshihiko; Ezaki, Hideaki; Tan, Yuegang; Chung, Woo Jin.

Proceedings - IEEE International Conference on Robotics and Automation. Vol. 1 2000. p. 247-254.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Nakamura, Y, Ezaki, H, Tan, Y & Chung, WJ 2000, Design of steering mechanism and control of nonholonomic trailer systems. in Proceedings - IEEE International Conference on Robotics and Automation. vol. 1, pp. 247-254, ICRA 2000: IEEE International Conference on Robotics and Automation, San Francisco, CA, USA, 00/4/24.
Nakamura Y, Ezaki H, Tan Y, Chung WJ. Design of steering mechanism and control of nonholonomic trailer systems. In Proceedings - IEEE International Conference on Robotics and Automation. Vol. 1. 2000. p. 247-254
Nakamura, Yoshihiko ; Ezaki, Hideaki ; Tan, Yuegang ; Chung, Woo Jin. / Design of steering mechanism and control of nonholonomic trailer systems. Proceedings - IEEE International Conference on Robotics and Automation. Vol. 1 2000. pp. 247-254
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