Articulated vehicles are usually connected by a rigid rotating joint between the front and rear fuselage, and in actual working conditions, the fuselage will inevitably produce side slip. In this paper, the dynamics of articulated vehicles affected by sideslip are analyzed and modeled, and a non-holonomic vehicle kinematics model with sideslip Angle and the corresponding rotational error dynamics model are established. A prediction controller is designed according to the actual working conditions. The controller switching strategy is selected by the change of sideshow Angle, and the sliding error is compensated to provide the overall running stability and improve the tracking performance of the vehicle. Through the relationship between the actual pose and the reference trajectory, the control objective function is optimized to achieve the lowest deviation of the vehicle heading Angle, so as to obtain the vehicle speed and link Angle control quantity, so as to solve the multi-variable and multi-constraint state. Through simulation, the results show that the prediction controller can solve the sideslip problem when the vehicle frame is offset, and can compensate the error well, which proves that the scheme can deal with the sideslip problem well in the actual working condition.
Kinematic modeling and predictive control strategy for articulated vehicles considering sideslip angle effects
International Conference on Automation Control, Algorithm, and Intelligent Bionics (ACAIB 2024) ; 2024 ; Yinchuan, China
Proc. SPIE ; 13259 ; 1325907
2024-09-04
Conference paper
Electronic Resource
English
Sideslip estimation for articulated heavy vehicles at the limits of adhesion
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