Adaptive Dynamic Control of a Multi-articulated Robot in Backward Movements

This work proposes an adaptive dynamic controller for a multi-articulated robot vehicle (MARV). This can be the case of a multi-trailer truck in backward movements or even to a tractor vehicle pushing passive trailers in agricultural applications. These articulated vehicles should navigate in such a way that avoids collisions between the elements of the composition (jackknife), which would prevent the vehicle of continuing moving. The main contribution of the paper is to show that the adaptive control can also be used in these complex structures. The MARV modeling is shown, in addition to the dynamic adaptive controller proposed. The results obtained with a MARV composed by a unicycle mobile robot pushing two trailers show that the approach is successful in reducing navigation errors, even if the robot model undergoes some change during movement, such as when load is added to the system or a mechanical problem arises.