Backstepping Tracking Control Design for a Tractor Robot Pulling Multiple Trailers
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Bibliographic record
Abstract
Control of tractor-trailer systems is challenging due to their nonlinear, underactuated and highly-coupled properties which gets more crucial with increasing the number of trailers in the system. This paper addresses the tracking control problem of a tractor mobile robot pulling N passive trailers using backstepping control approach. The proposed approach integrates a kinematic controller, that determines the velocity control inputs to track a desired trajectory, with a dynamic controller, that deploys the system dynamics to compute the required torques for the tractor's wheels to achieve the determined velocity control input. While the proposed approach incorporates the system dynamics as well as nonholonomic constraints into the control design, it is shown to be scalable with the number of trailers. The stability of the proposed controller is guaranteed and the simulation results are provided to verify the performance of the proposed controller.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it