欠驱动半挂汽车列车的运动建模与跟踪控制
游峰1, 张荣辉2, 王海玮1, 徐建闽1, 温惠英1

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
图2 小曲率转弯半径的欠驱动汽车挂车运动模型
Fig.2 Dynamic model of the vehicle in small turning radius of curvature