Development and research of adaptive control algorithm for road train lateral motion

Abstract

In the presented work, the problem of control of a road train when it performs various maneuvers while moving along the highway is considered. An adaptive algorithm for controlling the lateral displacement of road train elements is proposed, based on the use of a PD-controller, the values of the coefficients of which depend on the current value of the longitudinal velocity. Computer simulation has been carried out, which has shown the correctness of the proposed algorithm.