Nonlinear feedback and robust tracking control of articulated vehicles

In this paper, firstly, the nonlinear system equations including explicit output equations which describe the articulated vehicles with double trailers are given, nonlinear feedback and diffeomorphic transformation techniques based on differential geometry theory are then applied to totally linearize the nonlinear model. Finally, the PD controller and variable structure compensator are designed for the linear system. Results from a simulation are used to illustrate the efficacy of the method.<
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