Adaptive Constrained Formation Tracking Control for A Tractor-Trailer Mobile Robot Team with Multiple Constraints

Xu Jin, Shi Lu Dai, Jianjun Liang

Research output: Contribution to journalArticlepeer-review

2 Scopus citations

Abstract

A team of multiple tractor-trailer mobile robots has many applications in areas including agriculture, logistics, transportation, etc. In this paper, we propose a novel adaptive constrained formation tracking control algorithm for the trailers in a tractor-trailer mobile robot team to track a desired formation, while satisfying multiple precision, safety, and feasibility constraint requirements during the operation. Both universal barrier function approaches and a novel state transformation scheme are incorporated to deal with constraints of different nature. Adaptive estimators are introduced to estimate the rate of change of the desired trajectories for all trailers. We show that exponential convergence to a small neighbourhood of the equilibrium can be guaranteed. In the end, a MATLAB simulation example and a Gazebo simulator study further demonstrate the efficacy of the proposed algorithm.

Original languageEnglish
JournalIEEE Transactions on Automatic Control
DOIs
StateAccepted/In press - 2022

Bibliographical note

Publisher Copyright:
IEEE

Keywords

  • Adaptive formation tracking
  • Agricultural machinery
  • feasibility constraint
  • Mobile robots
  • precision constraint
  • Safety
  • safety constraint
  • tractor-trailer mobile robot system
  • Trajectory
  • Transportation
  • Upper bound
  • Wheels

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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