The rollover prevention problem of a fully-automated oversized cargo cooperative transportation system (CTS) is investigated. The effective anti-rollover performance is achieved while maintaining accurate and robust path following of the payload with the proposed two-layer cooperative controller. The complex coupled motion model of the CTS is established through a Constraint-oriented Dividing-and-Integrating (CoDI) strategy. Then a leakage-type adaptive robust controller (LARC) is proposed on the first layer to guarantee robust and stable tracking of the reference path and replanned longitudinal velocity of the payload, despite the existence of multiple uncertainties. An embedded MPC on the second layer provides auxiliary rollover prevention effect with the active anti-rollover actuator considering the input and output constraints. The effectiveness of the cooperative controller is validated through the comparison with the baseline methods via numerical simulation. The results illustrate that the proposed method can significantly improve the driving safety of the CTS when a rollover accident is prone to occur.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Rollover Prevention Control of Oversized Cargo Cooperative Transportation System with Robust Path Tracking Performance


    Beteiligte:
    Zhang, Bowei (Autor:in) / Jia, Yifan (Autor:in) / Huang, Jin (Autor:in) / Jiang, Kun (Autor:in) / Yang, Mengmeng (Autor:in) / Yang, Diange (Autor:in) / Zhong, Zhihua (Autor:in)


    Erscheinungsdatum :

    24.09.2024


    Format / Umfang :

    2932833 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Anti-rollover cargo compartment for live fish transportation

    LU YUAN / ZHANG JUN / ZHAO YANG et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    APPLICATION OF LOGISTICS METHODS IN THE ORGANIZATION OF TRANSPORTATION OF OVERSIZED CARGO

    Tatiana V. Konovalova / Ivan S. Senin / Sofia L. Nadiryan et al. | DOAJ | 2023

    Freier Zugriff

    Rollover prevention system

    MOTHFAR AHMED YOUNIS | Europäisches Patentamt | 2017

    Freier Zugriff

    Transportation device with rollover prevention mechanism for mine construction

    CHEN SI | Europäisches Patentamt | 2021

    Freier Zugriff