Abstract:
Computing the admissible reference statetrajectory for the non-flat dynamical systems is generally a non-trivial problem. If the system is additionally nonminimumphase th...View moreMetadata
Abstract:
Computing the admissible reference statetrajectory for the non-flat dynamical systems is generally a non-trivial problem. If the system is additionally nonminimumphase the problem may become especially difficult. Kinematics of the N-trailer vehicles equipped with off-axle hitching belong to such a class of systems. We show how to compute (reconstruct) the non-jackknifing reference trajectories for joint angles of the so-called non-Standard-N-Trailers in the case when the reference output-trajectory is prescribed for a posture of a last trailer. Presentation and discussion of computational algorithms is complemented by selected numerical results.
Published in: 2018 European Control Conference (ECC)
Date of Conference: 12-15 June 2018
Date Added to IEEE Xplore: 29 November 2018
ISBN Information: