Backward orientation tracking control of mobile robot with N trailers

• DOI: 10.1007/s12555-015-0382-7
• Publication Date: 2017-03-08T07:07:00Z
• Authors: Jin Cheng; Bin Wang; Yong Zhang; Zhonghua Wang
• Keywords: Tracking (education); Tracking system

A feedback control law for orientation tracking problem of a mobile robot with N on-axle trailers is proposed in this paper. Based on a recursive designing process, the orientation tracking problem is converted into stabilizing the including angles on the designed reference value. The designing process of the control law is simple and can be easily extended to any given N trailers system. With input-to-state stability on cascade form system, the closed-loop system is proven to be asymptotically stable. Simulation experiment on a mobile robot with 4 trailers is implemented and the results demonstrate that the proposed control law works successfully.