A full error dynamics switching modeling and control scheme for an articulated vehicle

In this article, a complete analysis towards the development of a switching modeling and control framework for an articulated vehicle, under the effect of varying slip angles will be presented. The established nonlinear kinematic model, of the nonholonomic articulated vehicle, will be transformed into an error dynamics model, which in the sequel will be linearized around multiple nominal slip angle cases. The proposed control architecture will consist of a switching control scheme, based on multiple model predictive controllers, for the articulated vehicle under varying slip angles. The controllers will be developed in order to improve the performance of the articulated vehicle’s path tracking, while compensating the varying slippage effect. The current measured slip angle is being considered as the switching rule and a corresponding switching control scheme is being defined, being able to apply constraints on the states, the control signal and the output variables. Both the non-slip and slip models will be derived to highlight the significance of accounting for slips in path following control and their significant effect on deteriorating the performance of the overall control scheme when not considered. Multiple simulation results will be presented to prove the efficacy of the overall suggested scheme.