Multi-axle Steering Vehicle Dynamics: Modeling, Analysis and Control

With the development of the world economy and the need of military, multi-axle steering vehicles have been used more and more in various fields. But its large size and heavy load also cause some problems, such as maneuverability, stability and tire wear. While the reasonable and effective angle control technology can play a key role in improving the above problems.In this book, the steering characteristics of a six-axle steering vehicle is studied. Then, four Ackerman equivalent steering models are proposed to analyze the steering characteristics of the multi-axle steering vehicle and the steering control strategy of each axle. Finally, a layered steering control strategy is proposed to control each axle of the vehicle effectively, and the results of the multi-objective steering control strategy are shown.