All-Wheel Steering Tracking Control Method for Virtual Rail Trains with Only Interoceptive Sensors
Zhenpo Wang,
Yi Zhang,
Zhifu Wang
Abstract:A virtual rail train (VRT) is a multi-articulated vehicle as well as a novel public transportation system due to its low economic cost, environmental friendliness and high transit capacity. Equipped with all-wheel steering (AWS) and a tracking control method, the super long VRT can travel on urban roads easily. This paper proposed a tracking control approach using only interoceptive sensors with high scene adaptivity. The kinematic model was established first under reasonable assumptions when the sensor config… Show more
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