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Computing the admissible reference state-trajectories for differentially non-flat kinematics of non-Standard N-Trailers | IEEE Conference Publication | IEEE Xplore

Computing the admissible reference state-trajectories for differentially non-flat kinematics of non-Standard N-Trailers

Publisher: IEEE

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 more

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.
Date of Conference: 12-15 June 2018
Date Added to IEEE Xplore: 29 November 2018
ISBN Information:
Publisher: IEEE
Conference Location: Limassol, Cyprus

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