Two-Step Control using Invariant Manifold on Connected Vehicle Model

The purpose of this study is to construct control using characteristics of non-holonomic system for connected vehicle models such as trailers. By extension to this system in the future, it can be expected to comprehensively represent the motion characteristics of the coupled vehicle such as jackknife. Various methods have been tried for non-linear control approaches in articulated vehicles. However, continuous control is difficult due to the non-linear nature. Therefore, in this paper, we derived invariant manifold and constructed control aiming at relatively continuous control. Therefore, in this paper, we derived invariant manifold and constructed control aiming at relatively continuous control. The proposed method is extended to two-stage control by partially using quasi-continuous exponential stabilization control. The controller was verified using simulation to show the effectiveness against convergence.