%0 Journal Article
%T Feedback stabilization of tractor-trailers with off-axle hatching<br>离轴式拖车移动机器人的反馈镇定
%A HE Zhan-bin
%A MA Bao-li
%A <br>何战斌
%A 马保离
%J 控制理论与应用
%D 2009
%I 
%X Because the model of the tractor-trailers with off-axle hitching can not be converted to the model of nonholonomic chained form, previously developed control schemes for the latter can not be applied to the former. In this work, a feedback stabilizing control scheme in a time-state controllable form is proposed for the tractor-trailers towing several off-hooked trailers. The linearized time-state form of the system model is derived and proved to be controllable; a switching linear feedback stabilizing control law is then designed to stabilize the states to converge to an arbitrary small neighborhood of origin in a finite time. Simulation results show the effectiveness of the proposed control scheme.
%K tractor-trailers with off-axle hitching
%K time-state control form
%K feedback stabilization<br>离轴式拖车
%K 时间–状态能控形
%K 反馈镇定
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=970898A57DFC021F93AB51667BAED7F7&aid=9E5F9CE081EBAF137E1AA2617F9EAF60&yid=DE12191FBD62783C&vid=96C778EE049EE47D&iid=DF92D298D3FF1E6E&sid=3D8AB54CA690066A&eid=1CBB73E9593E8833&journal_id=1000-8152&journal_name=控制理论与应用&referenced_num=0&reference_num=13