Safety Tracking Control of a Tractor Trailer Using Differential Flatness: Theory and Experiments
Safety is a fundamental issue in autonomous mobile robot design. This paper presents a safety-critical control framework for nonholonomic tractor-trailer vehicles subject to both safety and physical constraints. Control barrier functions (CBFs) are employed to enforce hard safety constraints, genera...
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| Hlavní autoři: | , , , |
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| Médium: | Artigo |
| Jazyk: | Inglês |
| Vydáno: |
MDPI AG
2026-05-01
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| Edice: | Mathematics |
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| On-line přístup: | https://www.mdpi.com/2227-7390/14/11/1811 |
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