Dynamics modeling and path following controller of tractor-trailer-wheeled robots considering wheels slip

To improve the payload capacity and maneuverability of a Differentially-Driven Wheeled Robot (DDWR), a wheeled vehicle, which is called trailer, is connected to the DDWR. In all of the previous studies of DDWRs with a trailer, the robot wheels are subject to pure rolling constraints. However, when these multibody systems move with high velocities/accelerations, transfer a heavy payload, or travel on a slippery surface, they experience slipping and/or skidding. In the present study, a Tractor-Trailer Wheeled Mobile Robot (TTWMR) is modeled whose wheels may slip in lateral and longitudinal directions. To this end, Lagrange formalism is employed along with the LuGre friction model to derive dynamics of the considered multibody system. Next, the problem of path following for the trailer is addressed. Toward this goal, the partial feedback linearization technique will be utilized. The obtained simulation results prove the superiority of the performance of the suggested method in comparison to the previous studies. Additionally, the response of the system in the presence of the external disturbances and uncertainties in system parameters will be examined.