Stabilization of a Tractor with n Trailers in the Presence of Wheel Slip Effects

Abstract

SUMMARY The purpose of this paper is to design a stabilizing controller for a car with n connected trailers. The proposed control algorithm is constructed on the Lyapunov theory. In this paper, the purpose of navigating the system toward the desired point considering the slip phenomenon as a main source of uncertainty is analyzed. First mathematical models are presented. Then, a stabilizing control approach based on the Lyapunov theory is presented. Subsequently, an uncertainty estimator is taken into account to overcome the wheel slip effects. Obtained results show the convergence properties of the proposed control algorithm against the slip phenomenon.

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

“…Despite these challenges, advancements in system identification technologies coupled with the progression of nonlinear control theory have significantly deepened the understanding and refinement of planning and control strategies for the TTWR system. The research dedicated to TTWR systems encompasses a diverse array of focal areas, including the formulation of kinematic and dynamic models, stability analysis, stabilization control methodologies, and the precision of trajectory tracking control mechanisms [11][12][13][14][15][16][17][18][19]. These research streams are critical for unlocking the full potential of TTWR systems and facilitating their integration into the targeted fields of application.…”

“…In the field of control theory, the overarching goal of system motion control is to manage and direct the behavior of dynamic systems, and this is typically bifurcated into two fundamental categories: stabilization control [14,15,21,22] and tracking control [23][24][25][26][27][28][29].…”