Trajectory planning and robust tracking control for a class of active articulated tractor-trailer vehicle with on-axle structure

DOI10.1016/J.EJCON.2019.12.003MaRDI QIDQ2198755zbMATH OpenOpenAlexWikidataFDO

Authors Zhiyuan Liu, Ming Yue, Lie Guo, Yongshun Zhang

Publication date 15 September 2020

Published in European Journal of Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.ejcon.2019.12.003

zbMATH Keywords

active articulatedmodel predictive control (MPC)sliding mode control (SMC)tractor-trailer vehicletrajectory tracking

Mathematics Subject Classification ID

Variable structure systems (93B12) Sensitivity (robustness) (93B35) Model predictive control (93B45) Application models in control theory (93C95)

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Cites work

• Adaptive variable structure maneuvering control and vibration reduction of three-axis stabilized flexible spacecraft
• Symplectic method based on generating function for receding horizon control of linear time-varying systems

Cited in

(18)

• Path planning, modeling and simulation of an autonomous articulated heavy construction machine performing a loading cycle
• A novel relative navigation control strategy based on relation space method for autonomous underground articulated vehicles
• Optimal reconfiguration control of the yaw stability of the tractor-semitrailer vehicle
• Intelligent coordinated control of an autonomous tractor-trailer and a combine harvester
• Coordinated control of path tracking and energy optimization for in-wheel motor drive electric buses with velocity estimation
• A novel adaptive fuzzy reinforcement learning controller for a platoon of off-axle hitching tractor-trailers with a prescribed performance and path curvature compensation
• Robust trajectory tracking for a reversing tractor trailer
• scientific article; zbMATH DE number 5289591 (Why is no real title available?)
• An ESO-based integrated trajectory tracking control for tractor-trailer vehicles with various constraints and physical limitations
• Forward tracking of complex trajectories with non-standard N-trailers of non-minimum-phase kinematics avoiding a jackknife effect
• scientific article; zbMATH DE number 5258038 (Why is no real title available?)
• A preview driver model based on sliding-mode and fuzzy control for articulated heavy vehicle
• Lining-up stabilizers for pusher and puller articulated vehicles
• Leader-follower formation control of Euler-Lagrange systems with limited field-of-view and saturating actuators: a case study for tractor-trailer wheeled mobile robots
• Nonlinear dynamic modeling of tractor-trailer mobile robots with consideration of wheels inertia and their optimal point-to point path planning
• An identical path tracking control strategy of the tractor-trailer wheeled mobile robot with an off-axle hitching based on a passive steering angle
• Controlling tractor-semitrailer vehicles in automated highway systems: adaptive robust and Lyapunov minimax approach
• Tube-MPC based lane change trajectory tracking for semi-trailers in high-speed scenarios

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