Experimental Comparison of Trajectory Trackers for a Car with Trailers
Francesco Bullo and Richard M. Murray
1996 IFAC World Congress
In this paper various design techniques are applied to the trajectory tracking problem for a mobile robot with trailers. Using simulations and experiments, we evaluate linear and nonlinear designs on the basis of implementation issues, stability and performance. After a careful design of their gains, the various feedback controllers have very close performance measures. In both the simulations and the experiments, all the controllers show a strong dependence on the knowledge of the reference trajectory. The flatness of the system is exploited in precomputing this quantity.
- Conference paper: http://www.cds.caltech.edu/~murray/preprints/bm96-ifac.pdf