Abstract
To improve the maneuvering stability of uncrewed armored vehicles during emergency steering and obstacle avoidance under high-speed driving conditions in off-road undulating terrain, in this paper, we establish a 7DOF dynamics model based on the time-varying trajectory curvature for the lateral and vertical motion of the spring-loaded mass and the vertical jump of the unsprung mass. Also, we consider two slip motion states with tires in the linear zone and tire slip nonlinear zone based on the Dugoff model and use trip and non-trip rollover under random road input as rollover warning constraint, and conduct flat road DLC test, 20° side slope test, JLTV twisted road respectively by Carsim-Simulink jointly according to NATO double shift line test standard. The improved LTV-MPC algorithm solves the optimal tracking control sequences of 2DOF and 7DOF kinetic models, and the trajectory tracking is completed, compared, and analyzed.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
