Trajectory Re-Planning and Tracking Control for a Tractor–Trailer Mobile Robot Subject to Multiple Constraints
Autonomous tractor–trailer robots possess a broad spectrum of applications but pose significant challenges in control due to their nonlinear and underactuated dynamics. Unlike the tractor, the motion of the trailer cannot be directly actuated, which often results in a deviation from the intended pat...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2024-03-01
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| Series: | Actuators |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-0825/13/3/109 |
| _version_ | 1797242496224329728 |
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| author | Tianrui Zhao Peibo Li Yu Yuan Lin Zhang Yanzheng Zhao |
| author_facet | Tianrui Zhao Peibo Li Yu Yuan Lin Zhang Yanzheng Zhao |
| author_sort | Tianrui Zhao |
| collection | DOAJ |
| description | Autonomous tractor–trailer robots possess a broad spectrum of applications but pose significant challenges in control due to their nonlinear and underactuated dynamics. Unlike the tractor, the motion of the trailer cannot be directly actuated, which often results in a deviation from the intended path. In this study, we introduce a novel method for generating and following trajectories that circumvent obstacles, tailored for a tractor–trailer robotic system constrained by multiple factors. Firstly, leveraging the state information of both the obstacles and the desired trajectory, we formulate an improved trajectory for obstacle avoidance using the nonlinear least squares method. Subsequently, we propose an innovative tracking controller that integrates a universal barrier function with a state transformation strategy. This amalgamation facilitates the accurate tracking of the prescribed trajectory. Our theoretical analysis substantiates that the proposed control methodology ensures exponential convergence of the line-of-sight (LOS) distance and angle tracking errors, while enhancing the transient performance. To validate the efficacy of our approach, we present a series of simulation results, which demonstrate the applicability of the developed control strategy in managing the complex dynamics of tractor–trailer robots. |
| first_indexed | 2024-04-24T18:40:08Z |
| format | Article |
| id | doaj.art-aea0fc25d69142a4bfab8d9170b57208 |
| institution | Directory Open Access Journal |
| issn | 2076-0825 |
| language | English |
| last_indexed | 2024-04-24T18:40:08Z |
| publishDate | 2024-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj.art-aea0fc25d69142a4bfab8d9170b572082024-03-27T13:15:26ZengMDPI AGActuators2076-08252024-03-0113310910.3390/act13030109Trajectory Re-Planning and Tracking Control for a Tractor–Trailer Mobile Robot Subject to Multiple ConstraintsTianrui Zhao0Peibo Li1Yu Yuan2Lin Zhang3Yanzheng Zhao4School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, ChinaCollege of Mechanical Engineering, Donghua University, Shanghai 200051, ChinaZhejiang Lab, Hangzhou 311121, ChinaSchool of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, ChinaSchool of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, ChinaAutonomous tractor–trailer robots possess a broad spectrum of applications but pose significant challenges in control due to their nonlinear and underactuated dynamics. Unlike the tractor, the motion of the trailer cannot be directly actuated, which often results in a deviation from the intended path. In this study, we introduce a novel method for generating and following trajectories that circumvent obstacles, tailored for a tractor–trailer robotic system constrained by multiple factors. Firstly, leveraging the state information of both the obstacles and the desired trajectory, we formulate an improved trajectory for obstacle avoidance using the nonlinear least squares method. Subsequently, we propose an innovative tracking controller that integrates a universal barrier function with a state transformation strategy. This amalgamation facilitates the accurate tracking of the prescribed trajectory. Our theoretical analysis substantiates that the proposed control methodology ensures exponential convergence of the line-of-sight (LOS) distance and angle tracking errors, while enhancing the transient performance. To validate the efficacy of our approach, we present a series of simulation results, which demonstrate the applicability of the developed control strategy in managing the complex dynamics of tractor–trailer robots.https://www.mdpi.com/2076-0825/13/3/109trajectory re-planningtracking controltractor–trailer systemmultiple constraints |
| spellingShingle | Tianrui Zhao Peibo Li Yu Yuan Lin Zhang Yanzheng Zhao Trajectory Re-Planning and Tracking Control for a Tractor–Trailer Mobile Robot Subject to Multiple Constraints Actuators trajectory re-planning tracking control tractor–trailer system multiple constraints |
| title | Trajectory Re-Planning and Tracking Control for a Tractor–Trailer Mobile Robot Subject to Multiple Constraints |
| title_full | Trajectory Re-Planning and Tracking Control for a Tractor–Trailer Mobile Robot Subject to Multiple Constraints |
| title_fullStr | Trajectory Re-Planning and Tracking Control for a Tractor–Trailer Mobile Robot Subject to Multiple Constraints |
| title_full_unstemmed | Trajectory Re-Planning and Tracking Control for a Tractor–Trailer Mobile Robot Subject to Multiple Constraints |
| title_short | Trajectory Re-Planning and Tracking Control for a Tractor–Trailer Mobile Robot Subject to Multiple Constraints |
| title_sort | trajectory re planning and tracking control for a tractor trailer mobile robot subject to multiple constraints |
| topic | trajectory re-planning tracking control tractor–trailer system multiple constraints |
| url | https://www.mdpi.com/2076-0825/13/3/109 |
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