Slope-climbing coordinated control strategy of trajectory tracking and stability regulation for tractor-trailer trucks
Chen Xu,
Ming Yue,
Gengxin Qi
et al.
Abstract:This paper proposes a coordinated control strategy according to the slope-climbing maneuver for autonomous tractor-trailer trucks, with considering tracking accuracy and underactuated trailer stability. First of all, a slope-deconstruction method is adopted to establish a coupled slope-climbing dynamics and trailer articulation model, to investigate motion characteristics and mechanical properties in the target operating condition. After that, a stability assessment is presented on the stable domain of articul… Show more
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