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Article

A Simple Curvature-Based Backward Path-Tracking Control for a Mobile Robot with N Trailers

1
School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
2
School of Aeronautical Engineering, Civil Aviation University of China, Tianjin 300300, China
3
School of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai 201620, China
*
Author to whom correspondence should be addressed.
Actuators 2024, 13(7), 237; https://doi.org/10.3390/act13070237
Submission received: 30 May 2024 / Revised: 21 June 2024 / Accepted: 24 June 2024 / Published: 25 June 2024

Abstract

This paper introduces a two-tier feedback control law for the path tracking of a mobile robot equipped with N on-axle trailers. Initially, through a recursive design process, the curvature-tracking challenge is converted into stabilizing the joint angles at predefined reference values. This design approach is straightforward and can be easily extended to configurations with multiple trailers. Using input-to-state stability analysis, we demonstrate the asymptotic stability of the closed-loop system, which is structured in cascade form. Furthermore, we reformulate the path-tracking problem as a curvature-planning challenge and propose an algorithm to determine the desired curvature for the tail trailer. The simulation results validate the effectiveness of this novel algorithm in truck-trailer systems.
Keywords: autonomous vehicles; path-following control; truck-trailer system; nonlinear control; N trailers autonomous vehicles; path-following control; truck-trailer system; nonlinear control; N trailers

Share and Cite

MDPI and ACS Style

Zhao, T.; Huang, W.; Xu, P.; Zhang, W.; Li, P.; Zhao, Y. A Simple Curvature-Based Backward Path-Tracking Control for a Mobile Robot with N Trailers. Actuators 2024, 13, 237. https://doi.org/10.3390/act13070237

AMA Style

Zhao T, Huang W, Xu P, Zhang W, Li P, Zhao Y. A Simple Curvature-Based Backward Path-Tracking Control for a Mobile Robot with N Trailers. Actuators. 2024; 13(7):237. https://doi.org/10.3390/act13070237

Chicago/Turabian Style

Zhao, Tianrui, Weining Huang, Pengjie Xu, Wei Zhang, Peixing Li, and Yanzheng Zhao. 2024. "A Simple Curvature-Based Backward Path-Tracking Control for a Mobile Robot with N Trailers" Actuators 13, no. 7: 237. https://doi.org/10.3390/act13070237

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