Controller design and validation for off-tracking elimination in multi-articulated vehicles

• Autorzy: Davrazos G.N. , Manesis S.A. , Koussoulas N.T.
• Języki publikacji: EN

Abstrakty

EN

The motion of the n-trailer either a multi-body robot or a train-like multi-articulated transportation vehicle is characterized by the deviation of the path of each intermediate trailer from that of the leading one (off-tracking). This paper proposes different controllers for the elimination of this undesirable phenomenon. By using a sliding kingpin technique that allows articulated semi-trailers to follow closely the tractor's path we design the controllers taking into consideration the kinematic equations. In order to determine the sliding distance we also introduce the notion of delay. Simulation results for various cases, without and with the sliding kingpin system are also presented in order to illustrate the performance of each controller.

• Wydawca: Oficyna Wydawnicza Politechniki Wrocławskiej
• Czasopismo: Systems Science
• Rocznik: 2001
• Tom: Vol. 27, nr 4
• Strony: 129--136
• Opis fizyczny: Bibliogr. 5 poz.,

Twórcy

autor

Davrazos G.N.

autor

Manesis S.A.

autor

Koussoulas N.T.

• Dept. of Electrical and Comp. Eng., University of Patras, 26500 Rio Patras, Greece