The Steering Theory And The Trajectory Tracking Control Of The Nonholonomic Mobile Robot

The nonholonomic system , constraints of which are presented by the differential eguations , is defiend the mechanical system where differential eguations are not integral. The character of the nonholonomic system is that the system is controllable when the the dimension of input space is less than of configuration space. So we pay attention to it day by day.According to the special character of nonholonomic system and the nonlinear control principle, we provide the new nonholonomic trailers and apply it into means of transport. Fully utilizing the character of the nonholonomic system, we control the movement of the trailers with two inputs - the velocity and Angular speed of the tractor. After establishing the kinematics model , we get the optimal steering gain by analyzing the figures of path following with different steering gain. According to the steering gain , we design the steering mechanism. Combining the three point model ,we introduce the steering theory particularly. The result shows that the structure of the nonholonomic trailers attached steering mechanism is simple , and the system is controllable.Considering that the robot system .where constraints are nonholonomic , is highly complicated .highly non-linear and high system of coupling. The technical of ISM ( Terminal Sliding Mode) is applied to make the control of path following. The result of the simulation which use TSM shows that we can control the trailers form the initial configuration to desired track Within regular hour .