View source for Experimental Comparison of Trajectory Trackers for a Car with Trailers

{{HTDB paper
| authors = Francesco Bullo and Richard M. Murray 
| title = Experimental Comparison of Trajectory Trackers for a Car with Trailers
| source = 1996 IFAC World Congress 
| year = 1996
| type = Conference paper
| funding = 
| url = http://www.cds.caltech.edu/~murray/preprints/bm96-ifac.pdf
| abstract = 
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. 

| flags = NoRequest
| tag = bm96-ifac
| id = 1996c
}}