A new adaptive constraint tracking control algorithm is proposed for the Line-of-sight problem with tracking in the tractor-trailer system. This algorithm transforms the constrained tracking error using a preset performance control method, enabling the trailer to follow to the desired trajectory while meeting various performance and feasibility constraints. It is proved that the errors in tracking distance and angles can converge to a small region near the equilibrium point at an exponential rate, and the rate of convergence is affected by control inputs and adaptive gain. To ease the burden of communication, a relative threshold strategy is proposed. Simulation examples and experimental studies validate the algorithm’s effectiveness.
LiuZYueMGuoL, et al. Trajectory planning and robust tracking control for a class of active articulated tractor-trailer vehicle with on-axle structure. Eur J Control2020; 54: 87–98.
2.
KhanpoorAKhalajiAKMoosavianSAA. Modeling and control of an underactuated tractor–trailer wheeled mobile robotRobotica2017; 35(12): 2297–2318.
3.
LiuYYueMZhaoX, et al. Adaptive robust path tracking preview control for tractor-trailer trucks considering trailer sway and stochastic disturbances. IEEE Trans Intell Transp Syst2025; 26: 5422–5434.
4.
BertolaniDNBachetiVPBrandãoAS, et al. Controlling a multi-articulated robot in backward movement using an adaptive controller. Mechatronics2023; 92: 102967.
5.
YueMHouXYangL. An efficient trajectory tracking control for tractor-trailer vehicle system. In: 2017 36th Chinese Control Conference (CCC), 2017, pp.546–551. IEEE.
6.
YuanJSunFHuangY.Trajectory generation and tracking control for double-steering tractor–trailer mobile robots with On-Axle hitching. IEEE Trans Ind Electron2015; 62(12): 7665–7677.
7.
HuangWJiXWangA, et al. Straight-line path tracking control of agricultural tractor-trailer based on fuzzy sliding mode control. Appl Sci2023; 13(2): 872.
8.
JinX.Fault tolerant finite-time leader–follower formation control for autonomous surface vessels with LOS range and angle constraintsAutomatica2016; 68: 228–236.
9.
HeWChenYYinZ.Adaptive neural network control of an uncertain robot with full-state constraints. IEEE Trans Cybern2015; 46(3): 620–629.
10.
JiaZJSongYD.Barrier function-based neural adaptive control with locally weighted learning and finite neuron self-growing strategy. IEEE Trans Neural Netw Learn Syst2016; 28(6): 1439–1451.
11.
LengZMinorMA.Curvature-based ground vehicle control of trailer path following considering sideslip and limited steering actuation. IEEE Trans Intell Transp Syst2016; 18(2): 332–348.
12.
YueMHouXGaoR, et al. Trajectory tracking control for tractor-trailer vehicles: a coordinated control approach. Nonlinear Dyn2018; 91: 1061–1074.
13.
WangYZongG.Dynamic event-triggered adaptive fixed-time practical tracking control for nonlinear systems through funnel function. IEEE Trans Autom Sci Eng2024; 22: 7008–7017.
14.
XuNLiuXLiY, et al. Dynamic event-triggered control for a class of uncertain strict-feedback systems via an improved adaptive neural networks backstepping approach. IEEE Trans Autom Sci Eng2024; 22: 2041–2050.
15.
ZhangDMaSHLuS, et al. A review of event-triggered consistency in multi-intelligent systems. J Beijing Inst Technol Nat Ed2022; 42(10): 1059–1072.
16.
TangFNiuBZongG, et al. Periodic event-triggered adaptive tracking control design for nonlinear discrete-time systems via reinforcement learning. Neural Netw2022; 154: 43–55.
17.
DengCWenCWangW, et al. Distributed adaptive tracking control for high-order nonlinear multiagent systems over event-triggered communication. IEEE Trans Automat Contr2022; 68(2): 1176–1183.
18.
SongXWuNSongS, et al. Switching-like event-triggered state estimation for reaction–diffusion neural networks against DoS attacks. Neural Process Lett2023; 55(7): 8997–9018.
19.
LiuLLiX.Event-triggered tracking control for active seat suspension systems with time-varying full-state constraints. IEEE Trans Syst Man Cybern Syst2020; 52(1): 582–590.
20.
JinXLiangJDaiSL, et al. Adaptive Line-of-Sight tracking control for a tractor-trailer vehicle system with multiple constraints. IEEE Trans Intell Transp Syst2021; 23(8): 11349–11360.
21.
Keymasi KhalajiARahimi BidgoliMMoosavianSAA. Non-model-based control for a wheeled mobile robot towing two trailers. Proc IMechE, Part K: J Multi-body Dynamics2015; 229(1): 97–108.
