Lining-Up Stabilizers for Pusher and Puller Articulated Vehicles

摘要

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.