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- Titel:
Active adaption compensation control of mechanically-docked vehicles against composite motion interferences
- Dokumenttyp:
- Zeitschriftenaufsatz
- Autor(en):
- Su, Xiaojie; Wang, Jianxiang; Jiang, Tao; Bing, Zhenshan; Knoll, Alois
- Zeitschriftentitel:
- Automatica
- Jahr:
- 2026
- Band / Volume:
- 188
- Seitenangaben Beitrag:
- 112948
- Volltext / DOI:
- doi:10.1016/j.automatica.2026.112948
- WWW:
- https://www.sciencedirect.com/science/article/pii/S0005109826001329
- Hinweise:
- This paper concerns the universal and adaptive control solutions for a class of mechanically docked vehicles under complex motion interference. The kinematic and dynamic models of the connected vehicles are first established, followed by the design of a model-based cascaded control framework. An improved adaptive safety geofencing method is then introduced, integrating capability constraints and barrier functions to modify the reference trajectory within the kinematic loop and ensure position...
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