Lining-up stabilizers for pusher and puller articulated vehicles
[ 1 ] Instytut Automatyki i Robotyki, Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ P ] employee
2020
chapter in monograph / paper
english
- pusher/puller articulated vehicle
- tractor-trailer
- kinematics
- steerable wheels
- lining-up control
- intelligent vehicle
EN The paper presents a derivation, a local stability analysis, and a numerical validation of control systems with lining-up feedback stabilizers for two kinds of kinematic structures widely used for articulated vehicles in a transportation practice: the tractor-driven vehicle pulling a trailer with a steerable axle, and the wagon-driven vehicle pushing a non-driven prime-mover. Simulation results reveal effectiveness of the stabilizers for various motion strategies of the vehicles (backward, forward, and oscillatory). The stabilizers can be used in the intelligent articulated buses and tractor-trailer vehicles in a fully automated mode or as an advanced driver assistance system.
24.06.2020
917 - 927
20