NONLINEAR CONTROL FOR A TRAIN-LIKE VEHICLE

This article presents a feedback nonlinear control law for a train-lik e 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 produced (on-line) by the front cart. We als o present a method for on-line reconstruction of this path. We present some simulation results of the feedback controller system, as well as experimental results performed on a TLV prototype passing through sin gular configurations.