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The International Journal of Robotics Research
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Nonlinear Control for a Train-like Vehicle

Carlos Canudas de Wit

Laboratoire d'Automatique de Grenoble Institut National Polytechnique de Grenoble B.P. 46 38402 Saint-Martin d'Hères, France

Ange Désiré NDoudi-Likoho

Laboratoire d'Automatique de Grenoble Institut National Polytechnique de Grenoble B.P. 46 38402 Saint-Martin d'Hères, France

Alain Micaelli

Service de Téléopération et de Robotique Direction des Technologies Avancées Commissariat à l'Energie Atomique B.P. 6 92265 Fontenay-aux-Roses, France

This article presents a feedback nonlinear control law for a train-like vehicle (TLV) that is used in nuclear power-station maintenance. The front cart is either manually or automatically guided. The rear carts are feedback controlled. The control objective is to ensure that the rear carts track the path pro duced (on-line) by the front cart. We also present a method for on-line reconstruction of this path. We present some simulation results of the feedback controller system, as well as experi mental results performed on a TLV prototype passing through singular configurations.

The International Journal of Robotics Research, Vol. 16, No. 3, 300-319 (1997)
DOI: 10.1177/027836499701600303
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