Nonlinear Backward Tracking Control of an Articulated Mobile Robot with Off-Axle Hitching

摘要

This paper proposes a nonlinear path control for backward driving of a car-like mobile robot pushing trailer with off-axle hitching. The control law is constructed using high-gain design techniques and involves error coordinates expressed which are partially linked to the trailer and invariant properties with respect to the vehicle speed. The stability of the closed-loop system is analyzed using Lyapunov stability theory. Simulation results illustrate the effectiveness of the proposed controller.