A direct Lyapunov approach for tracking control of mobile robot with two on-axle hitching trailers

The control problems for mobile robot with two trailers in backward motion are much more challenging due to the existence of the kinematic constraint between the tractor and trailers. A direct Lyapunov method is designed to reverse the mobile robot stably from any given configuration to a circular trace. Stability of the closed loop feedback system is proved with Lyapunov theory on stability and numeric simulation is implemented to illustrate the effectiveness of the proposed control approach.