Design and Implementation of a Fuzzy Sliding Mode Control Law for a Wheeled Robot Towing a Trailer

Tractor-trailer wheeled mobile robot (TTWMR) is a robotic system that consists of a tractor module towing a trailer. Trajectory tracking is one of the challenging problems which is focused in the context of wheeled mobile robots (WMRs) that has been discussed in this paper. First، kinematic equations of TTWMR are obtained. Then، reference trajectories for tracking problem are produced. Subsequently، an output feedback kinematic control law and a dynamic Fuzzy Sliding Mode Control (FSMC) are designed for the TTWMR. The proposed controller steer the TTWMR asymptotically follow reference trajectories. Finally، experimental results of the designed controller on an experimental setup and comparison results are presented. Obtained results show the effectiveness of the proposed controller.