Path-following control strategy for gantry virtual track train based on distributed virtual driving model

Leng, Han; Ren, Lihui; Ji, Yuanjin

doi:10.1080/00423114.2023.2245930

Cited by 1 publication

(1 citation statement)

References 17 publications

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“…There also exist other VRTs, and we tried to define some common features including multi-articulated bodies, active steering, rubber tires and virtual rail tracking. Figure 2 shows other types of VRTs in commercial operation with the main difference described [8]. We will talk about the tracking control of various VRTs and other active steering articulated vehicles.…”

Section: Introductionmentioning

confidence: 99%

All-Wheel Steering Tracking Control Method for Virtual Rail Trains with Only Interoceptive Sensors

Wang,

Zhang,

Wang

2024

WEVJ

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A virtual rail train (VRT) is a multi-articulated vehicle as well as a novel public transportation system due to its low economic cost, environmental friendliness and high transit capacity. Equipped with all-wheel steering (AWS) and a tracking control method, the super long VRT can travel on urban roads easily. This paper proposed a tracking control approach using only interoceptive sensors with high scene adaptivity. The kinematic model was established first under reasonable assumptions when the sensor configuration was completed simultaneously. A hierarchical controller consists of a front axle controller and a rear axle controller. The former applies virtual axles theory to avoid motion interference. The latter generates a first-axle reference path with path segmentation and a data updating method to improve storage and computational efficiency. Then, a fast curvature matching rear axles control method is developed with an actuator time delay considered. Finally, the proposed approach is verified in a hardware in loop (HIL) simulation under various situations with predefined evaluation standards, which shows better tracking performance and applicability.

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Section: Introductionmentioning

confidence: 99%