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Path-tracking of a tractor-trailer vehicle along rectilinear and circular paths: a Lyapunov-based approach

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3 Author(s)
A. Astolfi ; Dipt. di Elettronica e Informazione, Politecnico di Milano, Italy ; P. Bolzern ; A. Locatelli

The problem of asymptotic stabilization for straight and circular forward/backward motions of a tractor-trailer system is addressed using Lyapunov techniques. Smooth, bounded, nonlinear control laws achieving asymptotic stability along the desired path are designed, and explicit bounds on the region of attraction are provided. The problem of asymptotic controllability with bounded control is also addressed.

Published in:

IEEE Transactions on Robotics and Automation  (Volume:20 ,  Issue: 1 )