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This article addresses a tracking controller design for a trailer system consisting of a steering tractor and a passive trailer linked with a rigid free joint and having nonholonomic constraints. We design the tracking controller using the Lyapunov direct method, for both forward and backward driving of the trailer system. Backward driving is unstable, and thus is more difficult than forward driving. In previous research, we proposed a globally asymptotically stable (GAS) tracking control for forward driving of a trailer system with nonholonomic constraints. In this article, we implement the GAS tracking controller for forward and backward driving, and perform experiments using visual feedback and remote control systems. The experimental results represent stable responses and demonstrate the effectiveness of our method.

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In this paper, we discuss about the design of globally asymptotically stable tracking control law for mobile robot with nonholonomic velocity constraints. The stability of the controller is derived by Lyapunov direct method. And we analyze the system responses according to the variation of control parameters in line tracking problem: It is showed that the output responses represent non-oscillatory property in line tracking. The twowheeled mobile robot and car-like mobile robot are selected for example and the simulation results represent the effectiveness of our method. And there is a plan to experiment the path following of mobile robot.

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