Robustification of the modular tracking controller for the N-Trailers by employing a disturbance observation-compensation loop

Abstract

This paper is devoted to the control-robustification problem for the modular tracking controller devised for the N-Trailers and recently presented in [15]. Robustification is addressed in the context of parametric uncertainty of the N-Trailer kinematics resulting from the lack of perfect knowledge on the lengths of the trailers and hitching offsets. It is… (More)
DOI: 10.1109/ECC.2016.7810635

Topics

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