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

Mallahi Kolahi, Pouya; Nazemizadeh, Mostafa; Safari, Hamidreza

doi:10.61186/masm.3.1.53

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

Document Type : Original Article

Authors

Pouya Mallahi Kolahi ¹

Mostafa nazemizadeh ²

Hamidreza safari ³

¹ PhD Candidate, School of Mechanical Engineering, Iran University of Science and Technology

² Department of Mechanical Engineering, Faculty of Mechanics, Malek Ashtar University of Technology,

³ Department of Mechanical Engineering, Faculty of Mechanics, Iran University of Science and Technology, Iran

https://doi.org/10.61186/masm.3.1.53

Abstract

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.

Keywords

Tractor-Trailer

Speed Control

Dynamic Modeling

PID Control

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