Path tracking control for a robot-trailer system with parameter tuning using particle swarm optimization

摘要

In this paper, a path tracking controller is proposed for a robot-trailer system to track a given path. A kinematic model is derived for on-axle hitching and off-axle hitching systems. To reduce the disturbances from the system input and eliminate the trailer lateral error, a new kinematic model with an additional integrator is then derived. Linear quadratic controller (LQR) is designed to remove the trailer position error for both straight reference paths and curved reference paths. The control parameters are usually difficult to tune. Particle swarm optimization (PSO) with varying inertial weight is applied to determine the optimal parameters. The proposed approach using PSO-LQR controller is verified by simulations.