The increasing complexity of transportation demands has driven the need for reconfigurable and extendable multi-unit vehicle combinations. This study proposes a reconfigurable and generalizable control methodology based on active steering, enabling rapid deployment of control systems for various multi-unit vehicle combinations to achieve precise path tracking and stability control. The approach is underpinned by a modular and scalable kinematic model, coupled with an innovative control strategy that enables the trailers to precisely track the tractor while maintaining stability. A dual-layer model predictive control (MPC) framework is developed to effectively decouple the control of the tractor and trailers, regulating their respective steering angles. The effectiveness of the proposed method is validated through comprehensive simulations on typical two-unit and three-unit vehicle configurations. The MPC controller achieves precise tractor path tracking with a maximum lateral error below 0.15 m. Furthermore, the trailer stability controller successfully constrains the articulation angle deviation, reducing the sweep path width and ensuring vehicle stability. Comprehensive simulation studies confirm the method’s reconfigurability, generalizability, and control accuracy across diverse multi-unit vehicle configurations, achieving both path tracking precision and stability assurance.
Wang et al. (Tue,) studied this question.
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