# Control of tractor-trailer wheeled robots considering self-collision effect and actuator saturation limitations

> Research article (Mechanical Systems and Signal Processing, 2019) · cited 73× · AI/ML

**Wikidata**: [openalex:W2923621420](https://www.wikidata.org/wiki/openalex:W2923621420)  
**Source**: https://4ort.xyz/entity/control-of-tractor-trailer-wheeled-robots-considering-self-collision-effect-and-actuator-saturation-limitations