PID-based target tracking control of a tractor-trailer mobile robot

Abstract

The tractor-trailer wheeled robot is an articulated nonholonomic vehicle. This paper presents a novel PID-based tracking control law for the tractor-trailer wheeled robot. Theoretical anticipations do not always match the behavior of real systems. This is as a result of the existence of various uncertainties and disturbances. Consequently, controllers that are less dependent on systems' theoretical models are more desirable that is aimed at this research. Therefore, a PID-based kinematic controller is proposed as a non-model based controller to navigate the tractor-trailer wheeled robot follows desired trajectories. Subsequently, a computed torque dynamic controller is investigated to produce kinetic control inputs. The proposed method is implemented on a real-time experimental testbed and obtained results are discussed. These results present the merits of the proposed algorithm.

Path Tracking Control of an Articulated Road Roller With Sideslip Compensation

“…Yue et al [10] designed a posture controller based on model predictive control (MPC) to track the forward and backward obstacle avoidance maneuvers for tractor-trailer system. Khalaji [11] proposed a novel PID-based kinematic controller as a non-model-based controller to navigate the tractor-trailer wheeled robot follows desired trajectories. In [12], a varying time state feedback controller was designed to generate actuator torque by using Backstepping technique and Lyapunov direct method.…”

Saturated observer‐based adaptive neural network leader‐following control of N tractors with n‐trailers with a guaranteed performance

“…Therefore, the coordinated control of multiple tractors with n ‐trailers greatly increases the capacity of the transportation in different applications including material collection, luggage carrier, crop harvesting, and logistic operations. Unfortunately, there does not exist any research effort that addresses the coordinated control of N tractors with n ‐trailers in the literature 1‐36 . In fact, the design of coordinated tracking controllers for these vehicles is very challenging due to their nonholonomic constraints, their multi‐body dynamics, and coupling effects between the tractor and consecutive trailers.…”

“…In fact, the design of coordinated tracking controllers for these vehicles is very challenging due to their nonholonomic constraints, their multi‐body dynamics, and coupling effects between the tractor and consecutive trailers. The motion control of a single tractor with a single trailer has been addressed sufficiently at the kinematic level by many researchers in the literature 18‐35 . For some examples, the steering control and path‐tracking problems of tractor‐trailers have been presented in References 19‐22.…”

“…Certainly, inertial effects, centripetal and Coriolis forces and torques affect the performance of the proposed kinematic controllers in practice especially for the large‐scale and heavy‐duty tractor‐trailers. Toward this end, some research works have been presented on the dynamic modeling and control of tractor‐trailers in the presence of model uncertainties 31‐33 . For example, a proportional‐integral‐derivative (PID) controller was presented in Reference 33 for a tractor‐trailer by considering its dynamics.…”

“…Toward this end, some research works have been presented on the dynamic modeling and control of tractor‐trailers in the presence of model uncertainties 31‐33 . For example, a proportional‐integral‐derivative (PID) controller was presented in Reference 33 for a tractor‐trailer by considering its dynamics. However, these works only consider a tractor with a single‐trailer and a few works take into account the tracking control of tractors connected to n‐ trailers.…”