Input-output feedback linearization control of a tractor with n-trailers mechanism considering the path curvature

Khoshnam Shojaei, Hamid Taghavifar

    Research output: Contribution to journalArticlepeer-review

    2 Citations (Scopus)


    In this paper, an observer-based proportional-integral-derivative (PID) controller is proposed for an autonomous tractor with n-trailer units with prescribed transient and steady-state performances by compensating the negative effect of the path curvature during the turning of the trailers. The control objective is to place the position of the last trailer on a desired trajectory without any deviation in the course of its turning. Since the curvature of the trajectory causes a remarkable unwanted deviation of the trailers’ positions from the path, an input-output model is derived for the tractor with n-trailers based on the extended look-ahead control concept which employs a corrective angle to compensate the path curvature. A nonlinear transformation is employed to transform constrained errors into unconstrained ones and to obtain an open-loop error dynamic model in terms of the unconstrained errors. Then, a neural network adaptive PID output-feedback linearization-based controller is proposed to force the tracking errors to the zero neighbourhood with a guaranteed prescribed performance with preferable overshoot/undershoot, convergence speed and final tracking accuracy. The Kalman–Yakobovich (KY) lemma is employed to prove the closed-loop stability of the observer-controller system strongly. Numerical simulations are given to show the controller’s effectiveness in practice.

    Original languageEnglish
    Pages (from-to)(In-Press)
    JournalProceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
    Early online date16 Jun 2022
    Publication statusE-pub ahead of print - 16 Jun 2022


    The first author would like to thank all the financial support from Najafabad Branch, Islamic Azad University under grant number 1509512080049 under the research project entitled “Coordinated Control of Autonomous Vehicles and Unmanned Cars without Velocity Sensors by Using Adaptive Neural Networks.”


    • Output-feedback control
    • path curvature compensation
    • prescribed performance
    • tractor with n-trailers
    • velocity observer

    ASJC Scopus subject areas

    • Mechanical Engineering


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