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Arbitrary path tracking control of articulated vehicles using nonlinear control theory

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4 Author(s)
Sampei, M. ; Dept. of Mech. & Environ. Inf., Tokyo Inst. of Technol., Japan ; Tamura, T. ; Kobayashi, T. ; Shibui, N.

Designs a path tracking controller for an articulated vehicle (a semitrailer-like vehicle) using time scale transformation and exact linearization. The proposed controller allows articulated vehicles to follow arbitrary paths consisting of arcs and lines, while they are moving forward and/or backward. The experimental result of the 8-shaped path tracking control of the articulated vehicle moving backward is also presented

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Control Systems Technology, IEEE Transactions on  (Volume:3 ,  Issue: 1 )