Modeling and Motion Control of Industrial Tractor-Trailers Vehicles using Force Compensation

This article presents the dynamic modeling and trajectory tracking control of the industrial tractor–trailers vehicle composed of a full-size car-like tractor and multiple full trailers. To eliminate the high uncertainty of the kinematic and dynamic parameters of the trailers in the model, we propose to install a force sensor to monitor the forces exerted on the tractor in real time. With the forc...