Work

Trajectory Tracking of Tractor-Trailer Wheeled Mobile Robots via Dynamic Feedback Linearization in Forward and Backward Motion

Year: 2024

Type: conference-paper

Abstract: One type of wheeled mobile robot widely used in public transportation and for carrying high payloads is the tractor-trailer wheeled robots (TTWRs). This study considers a differentially-driven tractor under pure rolling conditions, which is subject to nonholonomic constraints. Controlling a TTWR in both backward and forward motion is challenging due to inherent instability. To address this issue and achieve trajectory tracking control for these systems, this paper employs dynamic feedback linearization (DFL) to overcome the limitations of static feedback linearization (SFL). The system’s response will be examined under various trajectories and initial conditions for both forward and backward motion.

Source: International Conference on Control, Instrumentation, and Automation

DOI: 10.1109/iccia65044.2024.10768150

Authors: Mohammad Olyai, Khalil Alipour, Bahram Tarvirdizadeh, Majid Sorouri, Mohammad Ghamari

Institutions: University of Tehran, National University of Ireland, Maynooth, California Polytechnic State University

Language: English

Topic: Control and Dynamics of Mobile Robots

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: green

OpenAlex ID: W4404955445

FWCI: 1.444

Cites: 12

Cited by: 2

Related to: 10