Path tracking control for mobile robot with two trailers

Abstract

A controller is designed in this paper to stably reverse the mobile robot with two trailers while tracking rectilinear path. Firstly, a nonlinear smooth feedback control law for orientation tracking of the trailers with asymptotic stability in backward motion is proposed and proved with theory about cascade system and input-to-state stability and also Lypunov technique. Based on the proposed control law, the controller is constructed with line-of-sight method to reverse the mobile robot with two trailers to track rectilinear path. Simulation results illustrate the effectiveness of the designed controller.