Modeling and path tracking for articulated steering vehicles

This paper presents an integrated articulated steering vehicle's (ASV) dynamics model, which provides a simulation platform for research on path tracking control of ASV. The active speed limiting control is designed according to the sideslip constraints to improve the lateral stability of the vehicle during path tracking. The weighted PID controller is applied to control the steering torque based on the path tracking error. The model and the effect of the path-tracking controller are validated through the Matlab/Simulink simulation.