Design of steering mechanism and control of nonholonomic trailer systems

@article{Nakamura2000DesignOS,
  title={Design of steering mechanism and control of nonholonomic trailer systems},
  author={Yoshihiko Nakamura and Hideaki Ezaki and Yuegang Tan and Woojin Chung},
  journal={Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)},
  year={2000},
  volume={1},
  pages={247-254 vol.1}
}
A wheeled mobile robot with trailers has been studied as a class of nonholonomic systems. It is proved that a system of a tractor and trailers with an appropriate connecting mechanism can be stabilized to desired positions via nonholonomic motion control. Trailers, on the other hand, have been developed and widely used in the industry. The main focus of industrial design is set on reducing tracking error from a reference trajectory. This paper attempts to bridge over the gap between these two… CONTINUE READING

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