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Dynamic modeling and tracking control of a car with \(n\) trailers

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Abstract

Tractor–trailer systems as multibody modular robotic systems have been widely used to increase load transportation capacity. Control of these systems started from motion aid facilities in human-driven vehicles to fully autonomous mobile robots in recent years. The mobility of these systems is restricted due to the presence of nonholonomic constraints of wheels and also to the system severe underactuated nature. Several control problems are under research for autonomous navigation of such systems. Trajectory tracking is one of the main problems in the context of autonomous nonholonomic systems. In this paper, dynamic modeling and control of a car with \(n\) trailers have been developed. First, a dynamic model of the system is obtained. Next, an output feedback kinematic controller and a feedback linearization kinetic controller have been used for tracking control of the system. Finally, experimental results are presented to show the merits of the proposed method.

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Authors and Affiliations

  1. Center of Excellence in Robotics and Control, Advanced Robotics and Automated Systems Lab, Department of Mechanical Engineering, K.N. Toosi University of Technology, Tehran, Iran

    Ali Keymasi Khalaji & S. Ali A. Moosavian

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  1. Ali Keymasi Khalaji
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  2. S. Ali A. Moosavian
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Correspondence to Ali Keymasi Khalaji.

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Keymasi Khalaji, A., Moosavian, S.A.A. Dynamic modeling and tracking control of a car with \(n\) trailers. Multibody Syst Dyn 37, 211–225 (2016). https://doi.org/10.1007/s11044-015-9472-9

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  • DOI: https://doi.org/10.1007/s11044-015-9472-9

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