Position and Speed Control of the Tractor-Trailer Robot by Considering the Dynamics of the Tractor Wheels Using the PID Controller

As a subset of mobile robots, the tractor-trailer mobile robot has been widely used in various applications in the past decades, including military and civilian missions, due to its advantages, such as a more expansive working space, high maneuverability, and load-carrying capacity has been used. One of the main challenges in controlling the tractor-trailer robot's speed is the tractor drives' dynamics. In this article, to complete the modeling after investigating the kinematic and dynamic equations governing the tractor-trailer robot, coupled dynamics have been presented by considering the dynamics of the tractor wheels. In the following, using the coupled dynamics, a suitable controller has been designed to control the robot's speed to achieve the desired value and the position point by point. Various simulations are presented to demonstrate the dynamic performance and the proposed controller. According to the simulation results, the presented theory improves the performance of the designed control system.