This article presents the dynamic modeling and trajectory tracking control of the industrial tractor–trailers vehicle composed of a full-size car-like tractor and multiple full trailers. To eliminate the high uncertainty of the kinematic and dynamic parameters of the trailers in the model, we propose to install a force sensor to monitor the forces exerted on the tractor in real time. With the force measurements, the tractor can be considered separately and the dynamic model is significantly simplified. The inaccurate parameters and varying configurations of the trailers can all be ignored, whereas their dynamic effects on the tractor are still precisely captured. A Lyapunov-based trajectory tracking controller is proposed to online compensate the forces and drive the tractor onto the desired trajectory. The controller is developed using backstepping techniques and the stability is rigorously proved. The performance is illustrated with practical implementations on a full-scale industrial tractor towing several full trailers. The robustness and accuracy of the controller with force compensation are verified with different trailer settings. Implementation results show that applying the simplified model has generally superior performance than using the whole-vehicle model.

中文翻译：

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使用力补偿的工业牵引车车辆的建模和运动控制

本文介绍了工业牵引车的动态建模和轨迹跟踪控制，该车辆由全尺寸的类似车的牵引车和多个全挂车组成。为了消除模型中拖车运动和动态参数的高度不确定性，我们建议安装一个力传感器来实时监测施加在拖拉机上的力。通过测力，可以单独考虑拖拉机，并大大简化了动力学模型。挂车的不正确的参数和变化的配置都可以忽略不计，而它们对拖拉机的动态影响仍然可以精确地捕捉到。提出了一种基于李雅普诺夫的轨迹跟踪控制器，以在线补偿力并将拖拉机驱动到所需的轨迹上。该控制器是使用反推技术开发的，其稳定性得到了严格的证明。通过在拖曳多辆全挂车的大型工业拖拉机上的实际实现来说明性能。带有力补偿的控制器的鲁棒性和准确性已通过不同的拖车设置进行了验证。实施结果表明，使用简化模型通常比使用整车模型具有更好的性能。