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tractor-trailer

Robotica (1)

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Stabilization of a Tractor with n Trailers in the Presence of Wheel Slip Effects
Ali Keymasi Khalaji, Mostafa Jalalnezhad
Journal:

Robotica / Volume 39 / Issue 5 / May 2021

Published online by Cambridge University Press:

12 August 2020, pp. 787-797
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The purpose of this paper is to design a stabilizing controller for a car with n connected trailers. The proposed control algorithm is constructed on the Lyapunov theory. In this paper, the purpose of navigating the system toward the desired point considering the slip phenomenon as a main source of uncertainty is analyzed. First mathematical models are presented. Then, a stabilizing control approach based on the Lyapunov theory is presented. Subsequently, an uncertainty estimator is taken into account to overcome the wheel slip effects. Obtained results show the convergence properties of the proposed control algorithm against the slip phenomenon.