Transactions of the Korean Society of Mechanical Engineers A (대한기계학회논문집A)

The Korean Society of Mechanical Engineers (대한기계학회)
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Path following of the passive off-hooked trailer system

Off-hooked 트레일러 시스템의 궤적 추종

  • 이재형 (KIST 지능로봇센터/ 고려대학교 기계공학과) ;
  • 박명국 (고려대학교 기계공학과) ;
  • 정우진 (KIST 지능로봇센터) ;
  • 김문상 (KIST 지능로봇센터) ;
  • 송재복 (고려대학교 기계공학과)
  • Published : 2003.11.01
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Abstract

This paper deals with design and control of passive multiple trailer systems fer practical applications. Due to cost and complexity of trailer mechanism, passive systems are preferred to active systems in this research. The control objective is to minimize trajectory tracking errors of passive multiple trailers. Three types of passive trailer systems-direct-hooked, three-point, and off-hooked- are discussed in this paper. Trajectory tracking performance and stability issues under constant velocity motion are carried out for three types. Various simulations and experiments have been also performed for these three types. It is shown that the proposed off-hooked trailer system produces better tracking performance than the other types.

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References

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