A nonlinear PI and backstepping-based controller for tractor-steerable trailers influenced by slip.
Van T. HuynhRyan N. SmithNgai Ming KwokJayantha KatupitiyaPublished in: ICRA (2012)
Keyphrases
- control strategy
- proportional integral
- nonlinear systems
- tracking control
- control law
- lyapunov stability theory
- control algorithm
- control system
- control scheme
- control method
- mathematical model
- operating conditions
- optimal control
- adaptive neural
- fuzzy controller
- closed loop
- control strategies
- variable structure
- pi control
- adaptive fuzzy
- feedback controller
- stability analysis
- controller design
- neural network controller
- lyapunov function
- fuzzy control
- pi controller
- adaptive control
- sliding mode control
- inverted pendulum
- model predictive control
- external disturbances
- fuzzy systems
- continuous stirred tank reactor
- control theory
- tracking error
- linear combination
- neural network
- linear matrix inequality
- highly nonlinear
- takagi sugeno
- real time
- control parameters
- boundary conditions
- adaptive controller
- mobile robot