|An Adaptive Backstepping Trajectory Tracking Control of a Tractor Trailer Wheeled Mobile Robot
Nguyen Thanh Binh, Nguyen Anh Tung, Dao Phuong Nam*, and Nguyen Hong Quang
International Journal of Control, Automation, and Systems, vol. 17, no. 2, pp.465-473, 2019
Abstract : "The considered Tractor Trailer Wheeled Mobile Robot (TTWMR) is type of Mobile Robot including a
master robot – Tractor and slave robots – Trailers which moves along Tractor to track a given desired trajectory. The
main difficulties of the stabilization and the tracking control of TTWMR are due to nonlinear and underactuated
systems subjected to nonholonomic constraints. In order to overcome these problems, firstly, we develop the model
of TTWMR and transform the tracking error model to the triangular form to propose a control law and an adaptive
law. Secondly, the varying time state feedback controllers are designed to generate actuator torques by using
Backstepping technique and Lyapunov direct’s method, in that these are able to guarantee the stability of the whole
system including kinematics and dynamics. In addition, the Babarlat’s lemma is used to prove that the proposed
tracking errors converge to the origin and the proposed adaptive law is carried on to tackle unknown parameter
problem. The simulations are implemented to demonstrate the effective performances of the proposed adaptive law
and the proposed control law."
Adaptive control, backstepping design, tracking control, tractor trailer wheeled mobile robot.