A tractor-trailer mobile robot system consists of an actuated tractor robot attached with an unactuated trailer robot. The system has a wide range of applications in areas including agriculture, logistics, transportation, etc. Due to the nonlinear and underactuated nature of the system, the tracking control problem is particularly challenging. In particular, while the tractor mobile robot is often well equipped with sophisticated collision avoidance and path following algorithms, the trailer cannot be controlled directly, which can easily deviate from the desired trajectory and result in collisions. In this paper, we propose a novel constrained tracking control algorithm for the trailer to track a desired trajectory, while satisfying multiple performance and feasibility constraint requirements during the operation. To deal with the constraint issue during the tracking control task, both a universal barrier function approach and a novel state transformation scheme are incorporated to deal with constraints of different nature. We show that exponential convergence can be guaranteed, with the convergence rate depending on the control input gain. In the end, a simulation example further demonstrates the efficacy of the proposed algorithm.
|Title of host publication||2021 American Control Conference, ACC 2021|
|Number of pages||6|
|State||Published - May 25 2021|
|Event||2021 American Control Conference, ACC 2021 - Virtual, New Orleans, United States|
Duration: May 25 2021 → May 28 2021
|Name||Proceedings of the American Control Conference|
|Conference||2021 American Control Conference, ACC 2021|
|City||Virtual, New Orleans|
|Period||5/25/21 → 5/28/21|
Bibliographical noteFunding Information:
Xu Jin is with the Department of Mechanical Engineering, University of Kentucky, Lexington, KY 40506, USA. The work by Xu Jin was supported in part by NASA Kentucky under NASA award No. 80NSSC20M0047. (E-mail: email@example.com).
The work of Shi-Lu Dai and Jianjun Liang was supported in part by the Key-Area Research and Development Program of Guangdong Province under Grant 2020B1111010002, in part by the Guangdong Marine Economic Development Project under Grant GDNRC 018, and in part by the Foshan Science and Technology Innovation Team Special Project under Grant 2018IT100322.
© 2021 American Automatic Control Council.
ASJC Scopus subject areas
- Electrical and Electronic Engineering