Backward circular motion control for mobile robot with two trailers

Abstract

The purpose of the paper is to provide asymptotic stable feedback control laws to reverse the mobile robot with two trailers along curve trace. The paper presents a new approach to stabilizing the system in backward motion by controlling the orientation angles of the two trailers. Nonlinear smooth control laws for orientations of the trailers with asymptotic stability in backward motion are then proposed. The stability of the closed loop feedback system is proved with Lypunov theory about stability. Results of numeric Simulation implemented on the robot with two trailers also illustrate the effectiveness of the proposed control laws. © 2013 Springer-Verlag Berlin Heidelberg.