Coordination Control of Active Steering and Direct Yaw Control for the Articulated Steering Vehicle

<table class="table-group" id="tab3"><tr><td><table class="table"><tr><td class="thead-hr" colspan="5"><hr/></td></tr><tr class="thead"><td class="align_left">Models</td><td class="align_center">Reference</td><td class="align_center">Without control</td><td class="align_center">With MPC</td><td class="align_center">With PID</td></tr><tr><td class="thead-hr" colspan="5"><hr/></td></tr><tr><td class="align_left"><span style="width: 26.472ptpx;"><svg height="11.2615pt" id="M106" style="vertical-align:-5.300591pt" version="1.1" viewbox="-0.0498162 -5.96091 26.472 11.2615" width="26.472pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M615 290C615 392 563 448 529 448C511 448 491 441 484 434L483 425C518 400 546 349 546 273C546 158 504 46 417 46C381 46 356 77 356 142C356 184 380 293 392 334L387 340L307 323C305 288 296 228 287 188C265 94 221 52 180 52C144 52 112 89 112 171C112 278 164 372 241 430L226 454C106 394 23 288 23 155C23 40 79 -12 139 -12C184 -12 245 32 285 85C292 31 322 -12 376 -12C423 -12 470 18 501 45C570 104 615 184 615 290Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,7.969,3.132)"><path d="M173 382V461C125 442 68 425 25 418V390C88 382 92 382 92 317V-127C92 -191 84 -199 18 -204V-235H259V-204C180 -196 173 -192 173 -120V7C188 -1 212 -11 243 -12C375 12 495 109 495 261C495 361 427 451 316 451C303 451 283 446 266 435L173 382ZM173 345C200 365 243 388 274 388C346 388 409 329 409 222C409 111 353 40 266 40C231 40 196 56 173 79V345Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,12.911,3.132)"><path d="M384 109C349 76 310 59 268 59C197 59 123 113 120 245C240 248 367 259 384 262C403 266 407 275 407 296C407 376 338 451 254 451H253C201 451 148 425 105 378C65 334 39 272 39 203C39 88 112 -12 235 -12C266 -12 339 5 402 84L384 109ZM230 411C285 411 319 365 319 313C319 298 313 293 294 293C236 291 180 290 125 290C141 370 185 411 230 411Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,16.896,3.132)"><path d="M442 39L431 68C420 63 406 57 394 57C377 57 359 71 359 118V301C359 353 349 393 314 424C291 443 261 451 230 451C171 438 107 401 79 381C59 366 46 355 46 340C46 316 72 295 91 295C106 295 117 303 122 319C131 350 139 371 152 384C163 397 178 404 197 404C246 404 281 365 281 293V278C260 262 186 232 124 213C69 194 41 161 41 112C41 47 92 -12 163 -12C195 -12 243 25 283 51C288 35 293 22 308 7C319 -4 339 -12 354 -12L442 39ZM281 87C262 68 226 51 199 51C169 51 129 74 129 126C129 162 151 181 190 198C211 208 259 229 281 240V87Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,21.019,3.132)"><path d="M523 0V30C483 33 455 48 422 83C390 115 285 234 266 263C309 314 327 333 351 357C388 392 414 404 483 415V444L273 435V405C320 400 321 392 302 364C285 339 256 300 233 277C218 262 201 250 170 243V710C130 697 73 680 22 675V647C85 642 89 637 89 570V107C89 44 83 35 14 30V0H244V30C179 35 170 41 170 107V214C176 216 181 217 186 217C194 217 203 212 216 196C273 129 333 54 384 -1L523 0Z"></path></g></svg></span></td><td class="align_center">13.65</td><td class="align_center">16.67</td><td class="align_center">14.27</td><td class="align_center">16.01</td></tr><tr><td class="align_left"><span style="width: 32.0109ptpx;"><svg height="11.3019pt" id="M107" style="vertical-align:-5.34099pt" version="1.1" viewbox="-0.0498162 -5.96091 32.0109 11.3019" width="32.0109pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M615 290C615 392 563 448 529 448C511 448 491 441 484 434L483 425C518 400 546 349 546 273C546 158 504 46 417 46C381 46 356 77 356 142C356 184 380 293 392 334L387 340L307 323C305 288 296 228 287 188C265 94 221 52 180 52C144 52 112 89 112 171C112 278 164 372 241 430L226 454C106 394 23 288 23 155C23 40 79 -12 139 -12C184 -12 245 32 285 85C292 31 322 -12 376 -12C423 -12 470 18 501 45C570 104 615 184 615 290Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,7.969,3.132)"><path d="M309 -142C211 -61 151 99 151 271S210 601 309 683L288 710C141 611 75 451 75 272V271C75 90 141 -72 288 -169L309 -142Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,11.227,3.132)"><path d="M329 433H203L239 587L230 596L147 534L123 433H57L30 395L34 388H115L61 129C37 16 59 -12 85 -12C147 -12 222 58 260 98L241 125C212 95 160 62 144 62C132 62 127 71 138 126L192 386L305 394L329 433Z"></path></g><g transform="matrix(.0065,0,0,-0.0065,14.339,5.233)"><path d="M455 312C455 472 400 635 248 635C95 635 39 458 39 312C39 144 93 -12 248 -12C400 -12 455 166 455 312ZM361 314C361 173 337 30 249 30C163 30 131 174 131 313C131 451 155 594 248 594C334 594 361 454 361 314Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,18.06,3.132)"><path d="M556 236V289H337V504H275V289H56V236H275V-4H337V236H556Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,23.62,3.132)"><path d="M389 0V32C297 38 291 46 291 118V635C234 613 175 595 109 583V556L161 554C203 552 207 547 207 497V118C207 46 201 38 110 32V0H389Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,28.052,3.132)"><path d="M283 271C283 451 220 610 70 710L48 683C146 603 207 443 207 271S149 -59 48 -142L70 -169C220 -67 283 90 283 271Z"></path></g></svg></span></td><td class="align_center">0</td><td class="align_center">3.69</td><td class="align_center">2.55</td><td class="align_center">2.78</td></tr><tr><td class="align_left"><span style="width: 43.0723ptpx;"><svg height="11.3019pt" id="M108" style="vertical-align:-5.34099pt" version="1.1" viewbox="-0.0498162 -5.96091 43.0723 11.3019" width="43.0723pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M615 290C615 392 563 448 529 448C511 448 491 441 484 434L483 425C518 400 546 349 546 273C546 158 504 46 417 46C381 46 356 77 356 142C356 184 380 293 392 334L387 340L307 323C305 288 296 228 287 188C265 94 221 52 180 52C144 52 112 89 112 171C112 278 164 372 241 430L226 454C106 394 23 288 23 155C23 40 79 -12 139 -12C184 -12 245 32 285 85C292 31 322 -12 376 -12C423 -12 470 18 501 45C570 104 615 184 615 290Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,7.969,3.132)"><path d="M309 -142C211 -61 151 99 151 271S210 601 309 683L288 710C141 611 75 451 75 272V271C75 90 141 -72 288 -169L309 -142Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,11.227,3.132)"><path d="M329 433H203L239 587L230 596L147 534L123 433H57L30 395L34 388H115L61 129C37 16 59 -12 85 -12C147 -12 222 58 260 98L241 125C212 95 160 62 144 62C132 62 127 71 138 126L192 386L305 394L329 433Z"></path></g><g transform="matrix(.0065,0,0,-0.0065,14.339,5.233)"><path d="M455 312C455 472 400 635 248 635C95 635 39 458 39 312C39 144 93 -12 248 -12C400 -12 455 166 455 312ZM361 314C361 173 337 30 249 30C163 30 131 174 131 313C131 451 155 594 248 594C334 594 361 454 361 314Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,18.06,3.132)"><path d="M556 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133 369L158 548Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,39.074,3.132)"><path d="M283 271C283 451 220 610 70 710L48 683C146 603 207 443 207 271S149 -59 48 -142L70 -169C220 -67 283 90 283 271Z"></path></g></svg></span></td><td class="align_center">0</td><td class="align_center">1.19</td><td class="align_center">2.05</td><td class="align_center">0.83</td></tr><tr><td class="align_left"><span style="width: 17.1253ptpx;"><svg height="11.927pt" id="M109" style="vertical-align:-3.291101pt" version="1.1" viewbox="-0.0498162 -8.6359 17.1253 11.927" width="17.1253pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M541 160L512 170C485 116 462 88 439 67C411 41 376 35 318 35C272 35 238 37 224 48C207 61 205 85 212 121L290 533C305 611 308 615 391 622L397 650H139L133 622C217 615 221 612 206 533L126 118C111 41 103 34 23 26L17 0H474C489 31 528 124 541 160Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,8.294,3.132)"><path d="M387 400C387 425 348 451 303 451C247 451 176 414 132 376C69 322 24 228 24 148C24 43 74 -12 147 -12C211 -12 301 33 363 103L346 128C319 99 249 51 193 51C148 51 112 84 112 165C112 230 130 287 154 330C170 359 199 400 243 400C277 400 304 383 326 354C333 345 343 343 354 348C378 360 387 382 387 400Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,12.037,3.132)"><path d="M389 0V32C297 38 291 46 291 118V635C234 613 175 595 109 583V556L161 554C203 552 207 547 207 497V118C207 46 201 38 110 32V0H389Z"></path></g></svg></span></td><td class="align_center">0</td><td class="align_center">22.14</td><td class="align_center">17.87</td><td class="align_center">17.36</td></tr><tr><td class="align_left"><span style="width: 17.1253ptpx;"><svg height="11.927pt" id="M110" style="vertical-align:-3.291101pt" version="1.1" viewbox="-0.0498162 -8.6359 17.1253 11.927" width="17.1253pt" xmlns="http://www.w3.org/2000/svg" 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26V0H411C423 44 433 88 446 135L414 144Z"></path></g></svg></span></td><td class="align_center">0</td><td class="align_center">7.14</td><td class="align_center">14.37</td><td class="align_center">5.18</td></tr><tr class="table-tr"><td colspan="5"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>Yaw rate value during the 0.7 Hz sine with dwell maneuver.</div>

Shock and Vibration

tab3

Table 3

Table 3: Coordination Control of Active Steering and Direct Yaw Control for the Articulated Steering Vehicle 