Preset performance adaptive event-triggered line-of-sight tracking control for multi-constrained tractor-trailer systems

A new adaptive constraint tracking control algorithm is proposed for the Line-of-sight problem with tracking in the tractor-trailer system. This algorithm transforms the constrained tracking error using a preset performance control method, enabling the trailer to follow to the desired trajectory while meeting various performance and feasibility constraints. It is proved that the errors in tracking distance and angles can converge to a small region near the equilibrium point at an exponential rate, and the rate of convergence is affected by control inputs and adaptive gain. To ease the burden of communication, a relative threshold strategy is proposed. Simulation examples and experimental studies validate the algorithm’s effectiveness.