文章基本信息

标题：A predictive path-following controller for multi-steered articulated vehicles ⁎
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作者：Oskar Ljungqvist ; Daniel Axehill
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2020
卷号：53
期号：2
页码：15725-15732
DOI：10.1016/j.ifacol.2020.12.053
语种：English
出版社：Elsevier
摘要：AbstractStabilizing multi-steered articulated vehicles in backward motion is a complex task for any human driver. Unless the vehicle is accurately steered, its structurally unstable joint-angle kinematics during reverse maneuvers can cause the vehicle segments to fold and enter a jack-knife state. In this work, a model predictive path-following controller is proposed enabling automatic low-speed steering control of multi-steered articulated vehicles, comprising a car-like tractor and an arbitrary number of trailers with passive or active steering. The proposed path-following controller is tailored to follow nominal paths that contains full state and control-input information, and is designed to satisfy various physical constraints on the vehicle states as well as saturations and rate limitations on the tractor’s curvature and the trailer steering angles. The performance of the proposed model predictive path-following controller is evaluated in a set of simulations for a multi-steered 2-trailer with a car-like tractor where the last trailer has steerable wheels.
关键词：KeywordsPath-following controlmulti-steered N-trailerstractor-trailer vehicles