SUMMARYThe purpose of this paper is to design a stabilizing controller for a car with n connected trailers. The proposed control algorithm is constructed on the Lyapunov theory. In this paper, the purpose of navigating the system toward the desired point considering the slip phenomenon as a main source of uncertainty is analyzed. First mathematical models are presented. Then, a stabilizing control approach based on the Lyapunov theory is presented. Subsequently, an uncertainty estimator is taken into account to overcome the wheel slip effects. Obtained results show the convergence properties of the proposed control algorithm against the slip phenomenon.

中文翻译：

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存在轮滑效应时具有 n 个拖车的拖拉机的稳定性

摘要本文的目的是设计一种用于汽车的稳定控制器。n连接的拖车。所提出的控制算法是基于 Lyapunov 理论构建的。在本文中，分析了将滑移现象作为不确定性的主要来源，将系统导航到所需点的目的。提出了第一个数学模型。然后，提出了一种基于李雅普诺夫理论的稳定控制方法。随后，考虑不确定性估计以克服车轮滑移效应。获得的结果表明了所提出的控制算法对滑移现象的收敛性。