TY - JOUR JF - joc-isice JO - JoC VL - 7 IS - 2 PY - 2013 Y1 - 2013/9/01 TI - Non-Model-Based Control Law for a Wheeled Robot Towing a Trailer TT - کنترل غیر مبتنی بر مدل برای یک ربات چرخ‌دار به همراه یک دنبال‌رو N2 - Tractor-trailer wheeled robot (TTWR) is a modular robotic system that consists of a tractor module towing a trailer. Trajectory tracking is one of the challenging problems focused in the context of wheeled mobile robots (WMRs) that has been discussed in this paper. First, kinematic equations of TTWR are obtained. Then, reference trajectories for tracking problem are produced. Subsequently, a non-model-based control based on Modified Transpose Jacobian (MTJ) method is designed for the TTWR. The proposed controller steer the TTWR asymptotically follow reference trajectories. Finally, experimental results for implementation of the designed controller on an experimental setup in comparison with model-based algorithm are presented. Obtained results show the effectiveness of the proposed controller SP - 1 EP - 10 AU - Keymasi, Ali AU - Moosavian, Seyed Ali Akbar AD - KW - Wheeled mobile robot KW - Nonholonomic systems KW - Trajectory Tracking KW - Modified Transpose Jacobian UR - http://joc.kntu.ac.ir/article-1-108-en.html ER -