Yaw feedback control of active steering vehicle based on differential flatness theory

• Autorzy: Qiang Haiyan , Xiao Cheng , Huang Hengyue , Hai Yichen , Sun Yougang

Identyfikatory

DOI

10.15632/jtam-pl/195727

• Języki publikacji: EN

Abstrakty

EN

In order to solve the problems of nonlinearity, underactuation and insufficient lateral stability of an active steering vehicle (ASV) in trajectory tracking tasks, a yaw feedback control strategy based on differential flatness theory is proposed in this paper. Firstly, the vehicle integrated monorail model is established, and the vehicle model is linearized by small angle approximation. Secondly, a suitable flat output is found to convert a complex vehicle model into a full drive system, and the flatness of the linear model is proved. Then, an equivalent form of the vehicle model is constructed based on the flat output and its derivatives, and a feedback controller based on the differential flat theory is designed to complete the trajectory tracking control through active steering and longitudinal motion. Finally, an ASV control simulation model is built in MATLAB/Simulink, and the simulation results show the effectiveness of the proposed control strategy under different maneuvering conditions.

Słowa kluczowe

EN

differential flatness; trajectory tracking; feedback control; underactuated system; lateral stability

• Wydawca: Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
• Czasopismo: Journal of Theoretical and Applied Mechanics
• Rocznik: 2025
• Tom: Vol. 63 nr 1
• Strony: 131--149
• Opis fizyczny: Bibliogr. 25 poz., rys., tab.

Twórcy

autor

Qiang Haiyan

• Logistics Engineering College, Shanghai Maritime University, Shanghai, China
• Key Laboratory of Railway Industry of Maglev Technology, Tongji University, Shanghai, China

autor

Xiao Cheng

• Logistics Engineering College, Shanghai Maritime University, Shanghai, China

autor

Huang Hengyue

• Logistics Engineering College, Shanghai Maritime University, Shanghai, China

autor

Hai Yichen

• Logistics Engineering College, Shanghai Maritime University, Shanghai, China

autor

Sun Yougang

• National Maglev Transportation Engineering R&D Center, Tongji University, Shanghai, China

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