A unified nonlinear controller for a platoon of car-like vehicles

This work presents a dynamics-based nonlinear tracking control scheme for a platoon of two car-like mobile robots. A unified controller is designed for both look-ahead and look-behind tracking. Look-ahead and look-behind tracking maneuvers require the following vehicle to follow the leading vehicle...

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Bibliographic Details
Main Authors: Pham, M., Danwei Wang
Format: Conference Proceeding
Language:English
Subjects:
Applied sciences
Automotive engineering
Computer science
control theory
systems
Control system synthesis
Control theory. Systems
Exact sciences and technology
Interpolation
Kinematics
Mobile robots
Pi control
Proportional control
Remotely operated vehicles
Robotics
Stability
Target tracking
Velocity control
Online Access:Request full text
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Description
Summary:This work presents a dynamics-based nonlinear tracking control scheme for a platoon of two car-like mobile robots. A unified controller is designed for both look-ahead and look-behind tracking. Look-ahead and look-behind tracking maneuvers require the following vehicle to follow the leading vehicle in two opposite directions: forward or backward, respectively. Furthermore, both steering control and driving control are also integrated in the unified controller. Tracking stability is ensured by proper design of a stable performance target equation. Simulation results show the control scheme work properly in both tracking cases. Simulations also investigate the influence of two important design parameters: the desired distance l and the desired steering angle ratio p. The results suggest that these parameters affect the system performance and require careful selection.
ISSN:0743-1619
2378-5861
DOI:10.23919/ACC.2004.1383815