This paper proposed a path following control strategy for the newly designed gantry virtual track train (G-VTT), focusing on the lateral control for low-speed turning manoeuvre. A local tracking objective function (LTOF) was proposed to find the optimal lateral acceleration (OLA) of the tracking point in the preview window and calculate optimal wheel steering angle (WSA) to achieve the optimal local trajectory. Considering the lag time $T_{\mathrm{d}}$ of the control system, the damping adjustment factor $\lambda$ was proposed to optimize the damping characteristics and the time-delay stability factor $\xi$ was proposed to evaluate the time-delay stability. The effectiveness of the proposed control strategy was verified by simulation.


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    Title :

    Path Following Control Strategy for Gantry Virtual Track Train


    Contributors:
    Leng, Han (author) / Ren, Lihui (author) / Ji, Yuanjin (author)


    Publication date :

    2022-10-08


    Size :

    2175795 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English





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