Modeling and backstepping control of a wheeled robot

Tractor-Trailer Wheeled Mobile Robot (TTWMR) is a robotic system that consists of a tractor module towing a trailer. Tracking control of this system using backstepping method has been considered in this paper. First, kinematic equations of TTWMR are obtained. Then, reference trajectories for tracking problem are produced. By an integrating parameter adaptation technique with a backstepping method, a stepwise procedure is proposed to design a controller. The proposed control law asymptotically stabilizes the robot around reference time-varying paths. Obtained results show that the proposed controller can guarantee high trajectory tracking accuracy. At the end, the results are presented for tracking a reference path. Obtained results shows the effectiveness of the proposed method.