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...
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| Main Authors: | , , , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
| Published: |
2022
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| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/155206 |
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| Institution: | Nanyang Technological University |
| Language: | English |
| Summary: | 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. |
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