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The paper presents unified framework of feedback motion control design with the Vector Field(s) Orientation (VFO) method for the articulated tractor-semitrailer vehicle in a context of trajectory tracking as well as set-point control problems. The work is an extension of the VFO control method for the nonholonomic systems with higher-dimensional state vector. Obtained control algorithm has an intuitive...
This paper considers problem of approximation of admissible trajectory for skid-steering mobile robot at kinematic level. Nonholonomic constraints at kinematic and dynamic level are taken into account. The trajectory tracking control problem is solved using practical stabilizer using tunable oscillator with novel method of tuning. The stability result is proved using Lyapunov analysis and takes into...
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