Abstract
Tractor–trailer systems as multibody modular robotic systems have been widely used to increase load transportation capacity. Control of these systems started from motion aid facilities in human-driven vehicles to fully autonomous mobile robots in recent years. The mobility of these systems is restricted due to the presence of nonholonomic constraints of wheels and also to the system severe underactuated nature. Several control problems are under research for autonomous navigation of such systems. Trajectory tracking is one of the main problems in the context of autonomous nonholonomic systems. In this paper, dynamic modeling and control of a car with \(n\) trailers have been developed. First, a dynamic model of the system is obtained. Next, an output feedback kinematic controller and a feedback linearization kinetic controller have been used for tracking control of the system. Finally, experimental results are presented to show the merits of the proposed method.
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