吉林大学学报(工学版) ›› 2014, Vol. 44 ›› Issue (5): 1296-1302.doi: 10.7964/jdxbgxb201405012

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

YOU Feng1,ZHANG Rong-hui2,WANG Hai-wei1,XU Jian-min1,WEN Hui-ying1   

  1. 1.School of Civil Engineering and Transportation, South China University of Technology, Guangzhou 510640,China;
    2.Xinjiang Technical Institute of Physics & Chemistry, Chinese Academy of Sciences, Urumqi 830011,China
  • Received:2012-12-12 Online:2014-09-01 Published:2014-09-01

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Abstract: 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.

Key words: engineering of communications and transportation, vehicle dynamics, underactuated system, semitrailer vehicle, sliding mode variable structure control

CLC Number: 

  • U461
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