Trajectory Tracking Control Law for a Tractor-Trailer Wheeled Mobile Robot

Trajectory tracking problem is one of the most important subjects that has been focused with many researchers in past years. In this paper, a Tractor-Trailer type robot including two nonholonomic constraints is analyzed. First, robot kinematic equations are obtained and transformed to the chained-form equations. Next, controllability of robot on the reference trajectory is evaluated and then appropriate reference trajectories for the tractor-trailer robot are generated. Finally a controller based on feedback linearization method is investigated in order to stabilize tracking errors about the origin. Obtained results show that the designed controller performs quite effective.