Backward Path Tracking of Mobile Robot with Two Trailers

摘要

With the social development and the continuous progress of science and technology, the mobile robots can greatly improve efficiency, reduce costs, many of these applications can be attributed to the backward path tracking control problem. A controller for backward path tracking of mobile robot with two trailers is addressed in this paper. The paper presents a new approach to stabilizing the system in backward motion by controlling the orientation angles of the two trailers. Nonlinear smooth control laws for orientations of the trailers with asymptotic stability in backward motion are then proposed. The result simulated in Simulink illustrates the effectiveness of the control law and the controller.