Abstract A tractor-trailer wheeled robot (TTWR) is a kind of wheeled robot which has many applications such as public transportation and conveying various payloads. The considered TTWR in this study includes a differentially-driven tractor towing a trailer. Such a robotic system is nonlinear and underactuated. Also, assuming the nonslip and pure-rolling condition of wheels, TTWR is subjected to nonholonomic constraints. These features make the motion control of the considered TTWR to be a challenging problem. However, up to now, few studies have focused on this problem. For the first time, the various configurations of TTWRs which are resulted by output-oriented trajectory tracking controllers are detailed in this article. Then, a full-state trajectory tracking controller is designed, which not only guarantees the asymptotic stabilization of the output errors but also enables TTWRs to follow the desired paths both in forward and backward movement. To this end, reversibility conditions of the suggested diffeomorphism are obtained and a controller based on coordinate system change is proposed. The response of the suggested kinematic controller is compared with one of the most well-known previous researches to prove the merit of the proposed controller. Finally, the experimental results support the performance of the proposed controller in practice.

中文翻译：

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拖拉机-挂车轮式移动机器人全状态轨迹跟踪控制器

摘要 拖拉机-拖车轮式机器人（TTWR）是一种轮式机器人，具有多种应用，如公共交通和输送各种有效载荷。本研究中考虑的 TTWR 包括牵引拖车的差速驱动拖拉机。这样的机器人系统是非线性的和欠驱动的。此外，假设车轮的防滑和纯滚动条件，TTWR 受到非完整约束。这些特性使得所考虑的 TTWR 的运动控制成为一个具有挑战性的问题。然而，到目前为止，很少有研究关注这个问题。本文首次详细介绍了由面向输出的轨迹跟踪控制器产生的 TTWR 的各种配置。然后，设计了一个全状态轨迹跟踪控制器，这不仅保证了输出误差的渐近稳定，而且使 TTWR 能够在向前和向后运动中遵循所需的路径。为此，获得了所建议的微分同胚的可逆性条件，并提出了一种基于坐标系变化的控制器。将建议的运动学控制器的响应与最知名的先前研究之一进行比较，以证明所建议的控制器的优点。最后，实验结果支持所提出的控制器在实践中的性能。将建议的运动学控制器的响应与最知名的先前研究之一进行比较，以证明所建议的控制器的优点。最后，实验结果支持所提出的控制器在实践中的性能。将建议的运动学控制器的响应与最知名的先前研究之一进行比较，以证明所建议的控制器的优点。最后，实验结果支持所提出的控制器在实践中的性能。