Volume 7, Issue 2 (Journal of Control, V.7, N.2 Summer 2013)                   JoC 2013, 7(2): 1-10 | Back to browse issues page

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Keymasi A, Moosavian S A A. Non-Model-Based Control Law for a Wheeled Robot Towing a Trailer. JoC. 2013; 7 (2) :1-10
URL: http://joc.kntu.ac.ir/article-1-108-en.html
Abstract:   (8136 Views)
Tractor-trailer wheeled robot (TTWR) is a modular robotic system that consists of a tractor module towing a trailer. Trajectory tracking is one of the challenging problems focused in the context of wheeled mobile robots (WMRs) that has been discussed in this paper. First, kinematic equations of TTWR are obtained. Then, reference trajectories for tracking problem are produced. Subsequently, a non-model-based control based on Modified Transpose Jacobian (MTJ) method is designed for the TTWR. The proposed controller steer the TTWR asymptotically follow reference trajectories. Finally, experimental results for implementation of the designed controller on an experimental setup in comparison with model-based algorithm are presented. Obtained results show the effectiveness of the proposed controller
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Type of Article: Research paper | Subject: Special
Received: 2014/06/20 | Accepted: 2014/06/20 | Published: 2014/06/20

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