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An Adaptive Backstepping Trajectory Tracking Control of a Tractor Trailer Wheeled Mobile Robot

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  • Robot and Applications
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Abstract

The considered Tractor Trailer Wheeled Mobile Robot (TTWMR) is type of Mobile Robot including a master robot – Tractor and slave robots – Trailers which moves along Tractor to track a given desired trajectory. The main difficulties of the stabilization and the tracking control of TTWMR are due to nonlinear and underactuated systems subjected to nonholonomic constraints. In order to overcome these problems, firstly, we develop the model of TTWMR and transform the tracking error model to the triangular form to propose a control law and an adaptive law. Secondly, the varying time state feedback controllers are designed to generate actuator torques by using Backstepping technique and Lyapunov direct’s method, in that these are able to guarantee the stability of the whole system including kinematics and dynamics. In addition, the Babarlat’s lemma is used to prove that the proposed tracking errors converge to the origin and the proposed adaptive law is carried on to tackle unknown parameter problem. The simulations are implemented to demonstrate the effective performances of the proposed adaptive law and the proposed control law.

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Authors and Affiliations

  1. School of Electrical Engineering, University of Ulsan, Ulsan, Korea

    Nguyen Thanh Binh

  2. Department of Automatic Control, Hanoi University of Science and Technology, Hanoi, Vietnam

    Nguyen Anh Tung & Dao Phuong Nam

  3. Departement of Automation, Thai Nguyen University of Technology, Thai, Vietnam

    Nguyen Hong Quang

Authors
  1. Nguyen Thanh Binh
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  2. Nguyen Anh Tung
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  3. Dao Phuong Nam
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  4. Nguyen Hong Quang
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Corresponding author

Correspondence to Dao Phuong Nam.

Additional information

Recommended by Associate Editor Hongyi Li under the direction of Editor Fuchun Sun. This work was supported by Research Foundation funded by Thainguyen University of Technology.

Thanh Binh Nguyen received the B.S. and M.S. degrees in Electrical Engineering from Hanoi University of Science and Technology, Hanoi, Vietnam, in 2014 and 2016, respectively. He helds the position as lecturer at Thuyloi University, Vietnam in 2017. Currently, he is a Ph.D. student in University of Ulsan, Korea. His research interests include control of air, land and underwater vehicles, nonlinear and robust adaptive control.

Nguyen Anh Tung is a senior student of talented program at Hanoi University of Science and Technology, Hanoi, Vietnam. He received HONDA Young Engineer and Scientist award 2017 for TOP 10 excellent student in Vietnam. His research interests include optimal control, nonlinear control and adaptive control.

Dao Phuong Nam received the Ph.D. degree in Electrical Engineering from Hanoi University of Science and Technology, Hanoi, Vietnam in 2013. Currently, he holds the position as lecturer at Hanoi University of Science and Technology, Vietnam. His research interests include control of robotic systems and robust/adaptive, optimal control.

Nguyen Hong Quang received his B.S. and M.S. degrees in electrical engineering from Thainguyen University of technology (TNUT) and Hanoi University of Science and Technology (HUST), Vietnam, in 2007 and 2012, respectively. He is currently with TNUT as Ph.D. student and Lecturer. His research interests are control of electrical drive systems and robust nonlinear model predictive control.

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Binh, N.T., Tung, N.A., Nam, D.P. et al. An Adaptive Backstepping Trajectory Tracking Control of a Tractor Trailer Wheeled Mobile Robot. Int. J. Control Autom. Syst. 17, 465–473 (2019). https://doi.org/10.1007/s12555-017-0711-0

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  • DOI: https://doi.org/10.1007/s12555-017-0711-0

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