中文摘要：

拖挂式移动机器人是一种具有不同连接形式的多车体系统．本文对标准连接和非标准连接的拖挂式机器人，研究了前向和倒车路径的跟踪控制．首先，建立系统的运动学模型并进行运动特性分析；其次，基于Lyapunov方法提出一种与期望路径具有一致运动方向的单体机器人全局路径跟踪控制器；然后将其引入到两种拖挂式机器人的前向跟踪控制中，并分别通过运动学变换和反演控制实现了两种连接形式下的倒车跟踪控制，从而使多节车体始终保持一致的运动方向，避免了不合理位形的出现．仿真结果表明该方法的有效性．

英文摘要：

The tractor-trailer mobile robot （TFMR） is a multi-body system with different connection forms. The forward-and-backward path-following control is studied for TTMRs with standard and nonstandard connections, The kinematics of a TTMR is described and the motion characteristics are analyzed. By using the Lyapunov method, a global path-following controller is designed for a single-body robot of which the motion direction of the robot will always coincide with the desired one. This controller is introduced to the forward path-following control of a TTMR. By using kinematics transformation and Backstepping technique, different controllers are respectively designed for two different connection forms, realizing backward path-following control. With the proposed controllers, all the bodies of a TTMR will move in the same direction such that the irrational configurations are avoided. A set of simulations is presented, showing the validity of the proposed methods.