Nakamura, Y Ezaki, H Tan, Y Chung, W 2024-01-21T12:14:04Z 2024-01-21T12:14:04Z 2021-09-05 2001-06 1042-296X https://pubs.kist.re.kr/handle/201004/140452 A wheeled mobile robot with trailers has been studied as a class of nonholonomic systems. It is proved that a system of a tractor and trailers with an appropriate connecting mechanism can be stabilized to desired positions via nonholonomic motion control. Trailers, on the other hand, have been developed and widely used in the industry. The main focus of industrial design is set on reducing tracking error from a reference trajectory. This paper attempts to bridge over the gap between these two approaches. We develop a design theory of trailer systems with passive steering. The designed systems show a good performance in practical path following, and accept the chained form transformation and nonlinear control strategies for nonholonomic systems. English IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC Design of steering mechanism and control of nonholonomic trailer systems Article 10.1109/70.938393 1 IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, v.17, no.3, pp.367 - 374 IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION 17 3 367 374 N scie scopus 000170307300013 2-s2.0-0035357154 Automation & Control Systems Engineering, Electrical & Electronic Robotics Automation & Control Systems Engineering Robotics Article; Proceedings Paper FORM nonholonomic constraints passive steering path following practical mechanism trailer system