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Stabilization of a Tractor with n Trailers in the Presence of Wheel Slip Effects

Published online by Cambridge University Press:  12 August 2020

Ali Keymasi Khalaji Open the ORCID record for Ali Keymasi Khalaji [Opens in a new window]  and
Mostafa Jalalnezhad
Ali Keymasi Khalaji*
Affiliation:
Department of Mechanical Engineering, Faculty of Engineering, Kharazmi University, Tehran, Iran E-mail: mostafajalalneghad@yahoo.com
Mostafa Jalalnezhad
Affiliation:
Department of Mechanical Engineering, Faculty of Engineering, Kharazmi University, Tehran, Iran E-mail: mostafajalalneghad@yahoo.com
*
*Corresponding author. E-mail: keymasi@khu.ac.ir
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Summary

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.

Keywords

Lyapunov stabilitySlipNonholonomic constraintTractor-trailerStabilization
Type
Articles
Information
Robotica , Volume 39 , Issue 5 , May 2021 , pp. 787 - 797
Copyright
Copyright © The Author(s), 2020. Published by Cambridge University Press

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