Dynamic model and tracking control of tractor semi-trailer vehicle with underactuated system

被引：2
|
作者：
You, Feng [1 ]
Zhang, Rong-Hui [2 ]
Wang, Hai-Wei [1 ]
Xu, Jian-Min [1 ]
Wen, Hui-Ying [1 ]
机构：
[1] School of Civil Engineering and Transportation, South China University of Technology, Guangzhou
[2] Xinjiang Technical Institute of Physics & Chemistry, Chinese Academy of Sciences, Urumqi
来源：
Jilin Daxue Xuebao (Gongxueban)/Journal of Jilin University (Engineering and Technology Edition) | 2014年 / 44卷 / 05期
关键词：
Engineering of communications and transportation; Semi-trailer vehicle; Sliding mode variable structure control; Underactuated system; Vehicle dynamics;
D O I：
10.7964/jdxbgxb201405012
中图分类号：
学科分类号：
摘要：
The dynamic theory of vehicle system is applied to develop the nonlinear dynamic model of underactuated vehicle in the vehicle and ground coordinate system. To simplify the process of checking and solving, the proposed model is linearized using accurate linearization method. On the basis of the linearized model, the dynamic model of tractor trailer system in polar coordinate system is established for vehicle trajectory in small turning curvature. In addition, the algorithm based on variable structure sliding model control is employed to make the state vectors of the vehicle system to converge to the hyperplane. Finally, the tracking simulations for smooth trajectory and smaller turning radius trajectory are analyzed in detail. Experiment results reveal that the designed feedback controller can improve the tracking performance of the tractor semi-trailer vehicle and drive the deviated vehicle back to the desired trajectory.
引用
收藏
页码：1296 / 1302
页数：6
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