Tracking Control of a Wheeled Mobile Robot with Two Trailers

Trajectory tracking problem is one of the most important subjects that has been focused with many researchers in past years. In this paper, a wheeled mobile robot with two trailers including three nonholonomic constraints is analyzed. First, the system kinematic equations are obtained and transformed to the chained-form equations. Next, appropriate reference trajectories for the wheeled mobile robot with two trailers are generated. Finally, based on full-state linearization via dynamic feedback method, a controller is designed in order to stabilize tracking errors toward zero. Obtained results show that the merits of proposed controller.

Keywords:

trajectory tracking , wheeled mobile robot , nonholonomic constraints , chained-form equations , dynamic feedback