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

XML Persian Abstract Print


Download citation:
BibTeX | RIS | EndNote | Medlars | ProCite | Reference Manager | RefWorks
Send citation to:

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:   (6536 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
Full-Text [PDF 4136 kb]   (1478 Downloads)    
Type of Article: Research paper | Subject: Special
Received: 2014/06/20 | Accepted: 2014/06/20 | Published: 2014/06/20

Add your comments about this article : Your username or Email:
CAPTCHA

Send email to the article author


© 2019 All Rights Reserved | Journal of Control

Designed & Developed by : Yektaweb