Eventos Anais de eventos
COBEM 2021
26th International Congress of Mechanical Engineering
Gain adjustment method to avoid jackknife of a MARV with two passive trailers in backward movements
Submission Author:
Diego Bertolani , ES , Brazil
Co-Authors:
Diego Bertolani, Mario Sarcinelli Filho
Presenter: Diego Bertolani
doi://10.26678/ABCM.COBEM2021.COB2021-0467
Abstract
This work deals with a unicycle-like mobile platform pushing two passive trailers connected to it, thus characterizing an articulated chain able to transport a greater amount of cargo. Firstly, it is developed a suitable model for such a vehicle, considering that the point in the middle of the back of the last trailer should follow a specified path, considering a tractor element pushing one or two trailers. After, a controller is developed to guide the system, consisting of a kinematic controller, responsible for the movement of the vehicle, plus a dynamic compensator, to compensate the dynamics of the tractor element, corresponding to a cascade or inner-outer loop control structure. Finally, a strategy to online adjust the control gains is proposed, to avoid jackknife situations, when the difference between the heading angles of two elements of the chain is so big that prevents continuing the navigation. The objective is to obtain a controller easy to implement, scalable to more than two trailers and able to perform a path-following task at relatively high velocity, with a low occurrence of jackknife situations. Finally, simulations are discussed, whose results validate the proposed model and control system, using dynamic parameters of a real tractor element.
Keywords
Multibody robotic systems, Active-passive systems, Nonlinear control, Mobile robotics, Multi-articulated robotic vehicles
