A novel two DOF control for train-like guidance of multiple articulated vehicles

This paper presents a novel two DOF control for train-like guidance of general multiple articulated vehicles with all wheel steering. The model based control scheme consists of a feedforward and a feedback part designed separately. Within the nonlinear feedforward part the steering angles are calculated that theoretically cause every single axle to follow a desired path exactly. Thus in the nonlinear feedback part only model uncertainties and disturbances have to be compensated. Simulations as well as road tests show that the designed control system allows train-like vehicle guidance while it is robust against varying road conditions, payload as well as velocity.