Abstract
The kinematical model of a truck-trailer mobile robot is analyzed and used for designing a positioning control system based on linear controllers integrated in a fuzzy-logic approach, taking into account both positioning performance and jack-knife avoidance. The results of robot positioning control are extended to trajectory following for which a novel strategy is proposed applicable to general-shape desired trajectories. The effectiveness of the proposed control strategies are verified for linear, circular and sinusoidal trajectories where the mobile robot attains and follows the desired trajectory, avoiding jack-knife positions and with bounded values of input steering angle.
| Original language | Spanish |
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| Title of host publication | 2017 3rd International Conference on Control, Automation and Robotics, ICCAR 2017 |
| Pages | 651-657 |
| Number of pages | 7 |
| State | Published - 7 Jun 2017 |
| Externally published | Yes |