Autonomous path following of truck-trailer vehicles using linear-fuzzy control

Antonio Moran Cardenas

Producción científica: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva

13 Citas (Scopus)


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.
Idioma originalEspañol
Título de la publicación alojada2017 3rd International Conference on Control, Automation and Robotics, ICCAR 2017
Número de páginas7
EstadoPublicada - 7 jun. 2017
Publicado de forma externa

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