Asymptotic parking of general two-trailer systems leveraging singularity

• Main Authors: Huang, Xiucai, Li, Zhengguo, Wen, Changyun, He, Renjie
• Other Authors: School of Electrical and Electronic Engineering
• Format: Article
• Language: English
• Published: 2022
• Subjects: Engineering::Electrical and electronic engineering; General Two-Trailer System; Singularity
• Online Access: https://hdl.handle.net/10356/155206
• Institution: Nanyang Technological University

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...