Asymptotic parking of general two-trailer systems leveraging singularity
It is challenging to asymptotically stabilize a general two-trailer system consisting of a unicycle car and two identical trailers at a predefined pose efficiently because the system cannot be converted into a chain-form system. In this article, we design a two-phase parking strategy for such a syst...
| Main Authors: | , , , |
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| Other Authors: | |
| Format: | Journal Article |
| Language: | English |
| Published: |
2022
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| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/155206 |
| _version_ | 1811692512073482240 |
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| author | Huang, Xiucai Li, Zhengguo Wen, Changyun He, Renjie |
| author2 | School of Electrical and Electronic Engineering |
| author_facet | School of Electrical and Electronic Engineering Huang, Xiucai Li, Zhengguo Wen, Changyun He, Renjie |
| author_sort | Huang, Xiucai |
| collection | NTU |
| description | It is challenging to asymptotically stabilize a general two-trailer system consisting of a unicycle car and two identical trailers at a predefined pose efficiently because the system cannot be converted into a chain-form system. In this article, we design a two-phase parking strategy for such a system to park it at the target pose. The proposed strategy is inspired by a new insight on the singularity set of the general two-trailer system, i.e., the singularity set includes a subset that can be asymptotically stabilized directly. In the first phase, a tracking controller is adopted to let the state of the system approach the subset. A parking controller is then developed in the second phase to stabilize the system at the target pose asymptotically. Due to its simplicity and efficiency, the proposed controller has a good potential to be used in practice. |
| first_indexed | 2024-10-01T06:36:57Z |
| format | Journal Article |
| id | ntu-10356/155206 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T06:36:57Z |
| publishDate | 2022 |
| record_format | dspace |
| spelling | ntu-10356/1552062022-02-15T05:53:19Z Asymptotic parking of general two-trailer systems leveraging singularity Huang, Xiucai Li, Zhengguo Wen, Changyun He, Renjie School of Electrical and Electronic Engineering Engineering::Electrical and electronic engineering General Two-Trailer System Singularity It is challenging to asymptotically stabilize a general two-trailer system consisting of a unicycle car and two identical trailers at a predefined pose efficiently because the system cannot be converted into a chain-form system. In this article, we design a two-phase parking strategy for such a system to park it at the target pose. The proposed strategy is inspired by a new insight on the singularity set of the general two-trailer system, i.e., the singularity set includes a subset that can be asymptotically stabilized directly. In the first phase, a tracking controller is adopted to let the state of the system approach the subset. A parking controller is then developed in the second phase to stabilize the system at the target pose asymptotically. Due to its simplicity and efficiency, the proposed controller has a good potential to be used in practice. Agency for Science, Technology and Research (A*STAR) This work was supported in part by the National Robotics Programme under SERC Grant 162 25 00036 and in part by the Aerospace Programme of the Science and Engineering Research Council, A-STAR, Singapore, under Grant A1715a0064. 2022-02-15T05:53:18Z 2022-02-15T05:53:18Z 2020 Journal Article Huang, X., Li, Z., Wen, C. & He, R. (2020). Asymptotic parking of general two-trailer systems leveraging singularity. IEEE Transactions On Industrial Electronics, 67(9), 7798-7807. https://dx.doi.org/10.1109/TIE.2019.2942578 0278-0046 https://hdl.handle.net/10356/155206 10.1109/TIE.2019.2942578 2-s2.0-85085242439 9 67 7798 7807 en SERC Grant 162 25 00036 A1715a0064 IEEE Transactions on Industrial Electronics © 2019 IEEE. All rights reserved. |
| spellingShingle | Engineering::Electrical and electronic engineering General Two-Trailer System Singularity Huang, Xiucai Li, Zhengguo Wen, Changyun He, Renjie Asymptotic parking of general two-trailer systems leveraging singularity |
| title | Asymptotic parking of general two-trailer systems leveraging singularity |
| title_full | Asymptotic parking of general two-trailer systems leveraging singularity |
| title_fullStr | Asymptotic parking of general two-trailer systems leveraging singularity |
| title_full_unstemmed | Asymptotic parking of general two-trailer systems leveraging singularity |
| title_short | Asymptotic parking of general two-trailer systems leveraging singularity |
| title_sort | asymptotic parking of general two trailer systems leveraging singularity |
| topic | Engineering::Electrical and electronic engineering General Two-Trailer System Singularity |
| url | https://hdl.handle.net/10356/155206 |
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