Study of Hydraulic Steering Process for Intelligent Autonomous Articulated Vehicle

Mixed local motion planning and tracking control framework for autonomous vehicles based on model predictive control

“…), which are sensitive to variations of system parameters and environment, the MPC-based controller is able to consider the future information in current control and handle multiple kinematic and dynamic constraints in optimisation process, which can achieve a steady, accurate, and robust control performance. Similar studies can be found in [29][30][31] etc.…”

“…Besides, in order to ensure the lateral stability, the constraint of lateral acceleration is also considered. Based on (31), (34), and (35), the lateral acceleration a y can be written as…”

Differential Drive Based Yaw Stabilization Using MPC for Distributed-Drive Articulated Heavy Vehicle

“…vxf, vyf and ωf are the longitudinal velocity, lateral velocity, and yaw rate of front part of the vehicle, which are same as the meaning of vxr, vyr and ωr for the rear part. Because of the special structure of vehicle model, the longitudinal and lateral velocity (vxr, vyr) of rear part can be derived by (2). Cxf, Cyf, Cxr and Cyr stand for the forces at articulation joint in front and rear parts of the vehicle, respectively.…”

“…With the gradually changing of "Intelligent Mine" from concept to reality, the innovative development of engineering machinery arouse more and more attention [1,2] . As the new mechanical equipment in mining industry, the distributeddrive articulated heavy vehicles (DAHVs) and its good vehicle performance become particularly important.…”