As large capacity is helpful to improve transportation efficiency, articulated vehicles with multi- carriage have been widely used. The length of articulated vehicles makes their maneuverability poor, thus excellent driving skill is required to make them move along expected paths. So the path-tacking control method for vehicle with multi-full-trailer was studied, and a controller based on non- time factor is proposed in this paper for articulated vehicle. Lyapunov function was constructed and utilized to prove the convergence of the path-tracking deviations of the articulated vehicle with n-full-trailer, i.e., each unit of the articulated vehicle can approach and eventually travel along given paths. The kinematic model of articulated vehicle with n-full-trailer was established, a general path formed via straight line, circular line and sinusoidal line was given, and path-tracking simulations were carried out. The simulation results are presented and shown the effectiveness of the path-tracking controller based on non-time factor for articulated vehicle with multi-full-trailer.
A Path-tracking Controller for Articulated Vehicle with Multi-full Trailers
20.10.2023
601575 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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