Control of two manipulation points of a cooperative transportation system with two car-like vehicles following parametric curve paths
This paper presents a new path-following control law of a transportation system. The law makes the two manipulation points follow their parametric curve paths. It is possible to specify the movement and rotation of the carrier quantitatively. Asymptotic stability is guaranteed by Lyapunovs second method. The validity of the new control law has been verified experimentally.
cooperative transportation path-following lyapunovs second method nonholonomic system differential geometry chained form