Non-collocated Control of an Autonomous Robot-Trailer System Using State Estimation

Abstract

In this work, the author develops an observer and non-collocated controller for a robot-trailer system in which only the position of the trailer is measured. A linearized state-space model of the system is derived using kinematic equations that have previously proven sufficient for state feedback control. Optimal observer gains are calculated using the known measurement noise variance. Simulation results suggest that the non-collocated position measurements are sufficient to accurately estimate the full system states while successfully regulating the trailer to the desired path. Experimental results show that the estimator is capable of tracking the system states and that the robot and trailer system can be made to follow a typical geophysical surveying path.