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1 2001

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

Davrazos G.N., Manesis S.A., Koussoulas N.T.

Systems Science

2001

Vol. 27, nr 4

129-136

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.