Obtaining a control algorithm capable of navigating the system both in forward and backward motions is one of the control objectives for tractor-trailer wheeled robots (TTWRs). In this paper, a relatively general structure is presented for both forward and backward control of an n-trailer wheeled mobile robot (NTWMR) in the presence of wheel slip effects. To keep better overall performance and track the reference trajectories in forward and backward motions, the NTWMR is intended to be controlled in the presence of slip effects. A control algorithm accompanied by a slip compensation procedure is proposed for the system simultaneously. First, the mathematical model of the system in the presence of slip effects is obtained. A novel physically motivated algorithm is proposed for the tracking control in the presence of unknown uncertainties (longitudinal and lateral slips) for both forward and backward motions. By estimating the slip effects at any instant, the control inputs are produced to compensate for their destructive effects on tracking control of the NTWMR. Then the stability of the closed-loop system is evaluated using the Lyapunov theory. The potential of the proposed controller was verified through several case studies, including comparative results and experimental validation in various motion control manoeuvers for a vehicle with trailers. The proposed method is the first algorithm that can cover a broad range of TTWR motion tasks (forward and backward trajectory tracking, slip attenuation, and global stability), which are required to be developed in NTWMRs.

获得能够在向前和向后运动中导航系统的控制算法是拖拉机-拖车轮式机器人 (TTWR) 的控制目标之一。在本文中，提出了一种相对通用的结构，用于在存在车轮滑移效应的情况下对 n 拖车轮式移动机器人 (NTWMR) 的前向和后向控制。为了保持更好的整体性能并在向前和向后运动中跟踪参考轨迹，NTWMR 旨在在存在滑动效应的情况下进行控制。同时为系统提出了一种带有滑差补偿程序的控制算法。首先，得到了存在滑移效应的系统的数学模型。提出了一种新的物理激励算法，用于在存在未知不确定性（纵向和横向滑动）的情况下进行向前和向后运动的跟踪控制。通过估计任何时刻的滑移效应，产生控制输入以补偿它们对 NTWMR 跟踪控制的破坏性影响。然后使用李雅普诺夫理论评估闭环系统的稳定性。所提出的控制器的潜力通过几个案例研究得到了验证，包括在带有拖车的车辆的各种运动控制操作中的比较结果和实验验证。所提出的方法是第一个可以涵盖广泛的 TTWR 运动任务（向前和向后轨迹跟踪、滑动衰减和全局稳定性）的算法，