Share and Export
Share and Export
Olyai, Mohammad, Alipour, Khalil, Tarvirdizadeh, Bahram, Sorouri, Majid and Ghamari, Mohammad (2024) Trajectory Tracking of Tractor-Trailer Wheeled Mobile Robots via Dynamic Feedback Linearization in Forward and Backward Motion. 2024 10th International Conference on Control, Instrumentation and Automation (ICCIA). pp. 1-6. ISSN 2688-0229
Preview
MS_traj.pdf
Available under License Creative Commons Attribution Non-commercial Share Alike.
Download (546kB) | Preview
Abstract
One type of wheeled mobile robot widely used in public transportation and for carrying high payloads is the tractor-trailer wheeled robots (TTWRs). This study considers a differentially-driven tractor under pure rolling conditions, which is subject to nonholonomic constraints. Controlling a TTWR in both backward and forward motion is challenging due to inherent instability. To address this issue and achieve trajectory tracking control for these systems, this paper employs dynamic feedback linearization (DFL) to overcome the limitations of static feedback linearization (SFL). The system’s response will be examined under various trajectories and initial conditions for both forward and backward motion.
| Item Type: | Article |
|---|---|
| Keywords: | Backward Motion; Dynamic Feedback Linearization; Tractor-Trailer; Trajectory Tracking; Wheeled Mobile Robots; |
| Academic Unit: | Faculty of Science and Engineering > Electronic Engineering |
| Item ID: | 20519 |
| Identification Number: | 10.1109/ICCIA65044.2024.10768150 |
| Depositing User: | IR Editor |
| Date Deposited: | 02 Sep 2025 12:05 |
| Journal or Publication Title: | 2024 10th International Conference on Control, Instrumentation and Automation (ICCIA) |
| Publisher: | IEEE |
| Refereed: | Yes |
| Related URLs: | |
| URI: | https://mural.maynoothuniversity.ie/id/eprint/20519 |
| Use Licence: | This item is available under a Creative Commons Attribution Non Commercial Share Alike Licence (CC BY-NC-SA). Details of this licence are available here |
Repository Staff Only (login required)
- Item control page
Downloads
Downloads per month over past year
