Pan, Jiaqi (Hunan University), Yang, Zeyu (Tsinghua University), Chang, Yuan (Hunan University), Hu, Manjiang (Hunan University), cui, qingjia (Hunan University of Science and Technology), Bian, Yougang (Hunan University)

Adaptive Robust Trajectory Tracking Control for Dual-Vehicle Cooperative Transportation System

Scheduled for presentation during the Regular Session "S25a-Cooperative and Connected Autonomous Systems" (TH-LM-T25), Thursday, November 20, 2025, 10:50−11:10, Cooleangata 4

2025 IEEE 28th International Conference on Intelligent Transportation Systems (ITSC), November 18-21, 2025, Gold Coast, Australia

This information is tentative and subject to change. Compiled on October 18, 2025

Abstract

This paper addresses the problem of modeling and trajectory tracking control for a dual-vehicle cooperative transportation system through a holistic modeling approach and a hierarchical control framework. First, by analyzing the system's geometric relationships and kinematic constraints, a dynamic model of the dual-vehicle cooperative transportation system is derived using the Euler-Lagrange equations. Additionally, the system's trajectory tracking problem is reformulated as a constraint-following problem. Second, an adaptive robust constraint-following control is designed as the upper-level controller. It can effectively handle mismatches caused by model uncertainties and external disturbances. Subsequently, to reduce the load stress, a lower-level distribution algorithm based on quadratic programming is designed to distribute the driving force and torque of the carriers. Finally, simulation results in two scenarios are provided to illustrate the trajectory tracking accuracy and robustness of the proposed adaptive robust control algorithm.