Path-following control by dynamic virtual terrain field for articulated steer vehicles

Abstract

This paper proposes a novel path-following control algorithm for articulated steer vehicles (ASV) by dynamic virtual terrain field (VTF) method. The altitude function of VTF, with robustness in fitting different working conditions, is adapted for the derivation of target steering wheel angle. Prior to the development of the controller, the nonlinear ASV model coupling with a full-hydraulic steering system is verified by real test and Adams/View software simulation. To get a precise path-following result, the sideslip angle is considered and controlled by ‘direct sideslip control’ and ‘road roll control’. The function of VTF is established and divided into primary and dynamic terrain field reference to the parameter variabilities. According to the vehicle dynamics model and the tire forces generated from the vehicle inclination on virtual terrain, the target articulation angle composed of the main angle and compensatory angle is derived. Simulations of path-following control at different road conditions, together with other types of controllers, are conducted and compared to show the feasibility and effectiveness of the proposed path-following control algorithm.