Dynamic feedback linearizing controller for a wheeled vehicle

Abstract

Trajectory tracking control of a tractor-trailer system has been studied in this paper. Tractor-trailer is a highly nonlinear and underactuated mobile robotic system which is subjected to nonholonomic constraints. In this paper, the analysis and tracking control of a wheeled robot with a trailer system has been investigated. The dynamic feedback linearization method as an efficient method has been used in order to control this system. The stability of the closed loop system also has been evaluated. Obtained results show the effectiveness of the proposed method.