Trajectory Tracking Control of Articulated Roller With Sideslip Effect

In order to reduce the operation difficulty of operators in complex working conditions and improve compaction efficiency, unmanned road rollers have become a favorable solution. When compaction is carried out on rough and uneven road surfaces, the fuselage will inevitably have a side slip problem. In order to reduce the impact of sideslip on the vehicle performance, the nonlinear mathematical model and dynamic error model of articulated roller with sideslip angle are established in this paper. The nonlinear system is linearized by feedback linearization, and a tracking controller is designed to eliminate the trajectory tracking error of actual path and reference path. Through MATLAB/Simulink simulation verification, the results show that the feedback linearization processing method proposed in this paper can effectively solve the sideslip problem caused by vehicle fuselage offset, thus proving the feasibility and effectiveness of the scheme.