Trajectory Tracking Control Design for Dual Unmanned Ground Vehicle Cooperative Handling System

In this paper, the trajectory tracking problem for a cooperative handling system is considered. The cooperative handling system here is composed of there parts: guider unmanned ground vehicle, baggage carrier and follower unmanned ground vehicle respectively. Firstly, on the basis of mechanics, the independent dynamic model of each component in the system is established, i.e., the unconstrained dynamic model. Secondly, the constraint function is designed by exploring the coupling relationship between components. Thirdly, an improved control method based on analytical dynamics is used to rewrite the trajectory constraints of the follower unmanned ground vehicle. Fourthly, the constrained dynamic model of the whole cooperative handling system subject to both system internal constraint and trajectory constraint is established. Based on the Udwadia-Kalaba theory, the analytical solution to the driving torque required by the whole system is solved. Finally, the accuracy, simplicity and effectiveness of the proposed method are verified via numerical simulations.