Trajectory Re-Planning and Tracking Control for a Tractor–Trailer Mobile Robot Subject to Multiple Constraints

Autonomous tractor–trailer robots possess a broad spectrum of applications but pose significant challenges in control due to their nonlinear and underactuated dynamics. Unlike the tractor, the motion of the trailer cannot be directly actuated, which often results in a deviation from the intended pat...

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Bibliographic Details
Published inActuators Vol. 13; no. 3; p. 109
Main Authors Zhao, Tianrui, Li, Peibo, Yuan, Yu, Zhang, Lin, Zhao, Yanzheng
Format Journal Article
LanguageEnglish
Published Basel MDPI AG 01.03.2024
Subjects
Analysis
Closed loop systems
Constraints
Control methods
Control theory
Farm tractors
Kinematics
Least squares method
Line of sight
multiple constraints
Nonlinear dynamics
Obstacle avoidance
Robot dynamics
Robotics industry
Robots
Strategy
Tracking control
Tracking errors
Tractors
tractor–trailer system
Trailers
Trajectory analysis
Trajectory control
Trajectory planning
trajectory re-planning
Transient performance
Velocity
Wheels
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Summary:Autonomous tractor–trailer robots possess a broad spectrum of applications but pose significant challenges in control due to their nonlinear and underactuated dynamics. Unlike the tractor, the motion of the trailer cannot be directly actuated, which often results in a deviation from the intended path. In this study, we introduce a novel method for generating and following trajectories that circumvent obstacles, tailored for a tractor–trailer robotic system constrained by multiple factors. Firstly, leveraging the state information of both the obstacles and the desired trajectory, we formulate an improved trajectory for obstacle avoidance using the nonlinear least squares method. Subsequently, we propose an innovative tracking controller that integrates a universal barrier function with a state transformation strategy. This amalgamation facilitates the accurate tracking of the prescribed trajectory. Our theoretical analysis substantiates that the proposed control methodology ensures exponential convergence of the line-of-sight (LOS) distance and angle tracking errors, while enhancing the transient performance. To validate the efficacy of our approach, we present a series of simulation results, which demonstrate the applicability of the developed control strategy in managing the complex dynamics of tractor–trailer robots.
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ISSN:2076-0825
2076-0825
DOI:10.3390/act13030109