Abstract

Given the increasing number of transportation tasks, a multisection tractor-trailer system is an ideal choice. To extend the application scope and adapt more complex workspace for tractor-trailer systems, this paper presents a global trajectory tracking controller for an off-axis tractor-trailer system with variable wheeltrack using adaptive method. Considering the tracking errors caused by the variation of wheeltrack, an online adaptive parameter update law is proposed to estimate the unknown wheeltrack and achieve tracking robustness. Simulation results demonstrate the effectiveness of the proposed method.

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