NDLI: Derivation of an error model for tractor-trailer path tracking

Content Provider	IEEE Xplore Digital Library
Author	Huynh, V.T. Katupitiya, J. Kwok, N.M. Eaton, R.P.
Copyright Year	2010
Description	Author affiliation: School of Electrical Engineering and Telecommunications, The University of New South Wales, Sydney 2052, Australia (Eaton, R.P.) \|\| School of Mechanical and Manufacturing Engineering, The University of New South Wales, Sydney 2052, Australia (Huynh, V.T.; Katupitiya, J.; Kwok, N.M.)
Abstract	Developing a specific model for a tractor-trailer system subject to slips in real working environment is essential for understanding its system behavior and designing controllers. This paper presents a comprehensive analysis of the kinematics of the tractor-trailer under the influence of disturbances caused by the ground onto the implements and wheels. An error model is then derived, based on the open-loop kinematic model and the desired reference path. By applying basic theory of engineering mechanics for rigid body with slips, in the form of extra velocities and angles, exerting on rear axles and steered wheel as well as the trailer's implements, the open-loop kinematic model is primarily established. Provided the current state of the vehicle and random disturbances of the environment are known with bounds, the next states of the system can be estimated, the vehicle running path is predicted, along with setting a basis for further controller design. The development is verified by simulation for both kinematic and error models with disturbances obeying the normal distribution.
Starting Page	60
Ending Page	66
File Size	259420
Page Count	7
File Format	PDF
ISBN	9781424467914
e-ISBN	9781424467938
DOI	10.1109/ISKE.2010.5680795
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-11-15
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Wheels Kinematics Agricultural machinery Mathematical model Equations Vehicles Axles
Content Type	Text
Resource Type	Article

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