Unified dynamical model of vehicle steering and model-following control

In order to apply the control algorithm of two-axle steering vehicle to multi-axle steering vehicle, the model of multi-axle steering vehicle and the model of two-axle steering vehicle were unified into a single model based on dynamic model of a two degree-of-freedom model for the multi-axle steering vehicle. Using the unified steering dynamical model, the multi-axle steering vehicle could be commanded by controlling wheels of any two axles. The ideal dynamic model of multi-axle steering vehicle was founded based on the zero-sideslip-angle control strategy. The control systems of multi-axle steering vehicle with front-wheel mechanical steering and front-wheel electric steering were designed and analyzed based on the model-following control. The results indicated that the control system could be adjusted and actualized easily with the obvious effect if the unified steering dynamical model was combined with the zero-sideslip-angle and the model-following control.