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Backward orientation tracking control of mobile robot with N trailers

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  • Robot and Applications
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Abstract

A feedback control law for orientation tracking problem of a mobile robot with N on-axle trailers is proposed in this paper. Based on a recursive designing process, the orientation tracking problem is converted into stabilizing the including angles on the designed reference value. The designing process of the control law is simple and can be easily extended to any given N trailers system. With input-to-state stability on cascade form system, the closed-loop system is proven to be asymptotically stable. Simulation experiment on a mobile robot with 4 trailers is implemented and the results demonstrate that the proposed control law works successfully.

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Authors and Affiliations

  1. School of Electrical Engineering, University of Jinan, Jinan, Shandong, 250022, P. R. China

    Jin Cheng, Bin Wang, Yong Zhang & Zhonghua Wang

Authors
  1. Jin Cheng
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  2. Bin Wang
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  3. Yong Zhang
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  4. Zhonghua Wang
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Corresponding author

Correspondence to Jin Cheng.

Additional information

Recommended by Associate Editor Nam H. Jo under the direction of Editor Euntai Kim. This work was supported by the National Natural Science Foundation (NNSF) of China under Grant 61203335 and 61603150.

Jin Cheng received his Ph.D. degree in control theory and control engineering from Institute of Automation, Chinese Academy of Science in 2007, and M.D. from Shandong University in 2004. He is currently an associate professor at the School of Electrical Engineering, University of Jinan, Jinan, China. His research interests include robotics, motion planning algorithm and nonholonomic system.

Bin Wang received the B.S. degree in China University of Petroleum, Dongying, China in 2010, and the Ph.D. degree in control theory and control engineering from the Institute of Automation, Chinese Academy of Sciences, Beijing, China in 2015. He is currently a lecturer at the School of Electrical Engineering, University of Jinan, Jinan, China. His current research interests include robotics, reinforcement learning, adaptive dynamic programming and neural networks.

Yong Zhang received his M.D. and Ph.D. degrees in Harbin Institute of Technology, Harbin, China, in 1988 and 2011, respectively. He is currently a professor at the School of Electrical Engineering, University of Jinan, Jinan, China. His current research interests include robotics, visual recognition and electrical drive.

Zhonghua Wang received his Ph.D. degree in mechanical engineering from Southeast University, China in 2002 and his M.D. in Mechanical Engineering from Shandong University, Jinan, Shandong Province in 1998. He is currently a professor in the School of Electrical Engineering, University of Jinan, Jinan, China. His current research interests include motion Control, mechatronics, robust adaptive control theory and application.

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Cheng, J., Wang, B., Zhang, Y. et al. Backward orientation tracking control of mobile robot with N trailers. Int. J. Control Autom. Syst. 15, 867–874 (2017). https://doi.org/10.1007/s12555-015-0382-7

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  • DOI: https://doi.org/10.1007/s12555-015-0382-7

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