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Orientation control of a wheeled robot towing a trailer in backward motion

In this paper an orientation feedback control law is proposed for a mobile robot with 1 on-axle. The idea of the method relies on recursive designing process that it to cause the orientation tracking problem will convert into stabilizing the including angles on the designed reference value. The method that has been used in the designing process is easy and it has ability to extend to systems with more trailers. The efficiency of the approach is evaluated for a mobile robot towing a trailer and obtained results show that the method works successfully.