Nonlinear Control for a Train-like Vehicle

Abstract

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.