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The dualvehicle cooperative transportation system consists of a cargo module and two transport vehicles, which are connected by articulated joints. The system's strong dynamics coupling and nonlinearity present significant challenges for accurate modeling and precise control. In this paper a trajectory tracking control scheme for the cooperative transportation system based on constraintfollowing theory is proposed. In terms of system modeling, based on the kinematics and rigid body dynamics analysis, external trajectory tracking servo constraints and internal articulated passive constraints are constructed for the cooperative transportation system. The Lagrange modeling method is then employed to establish a nonlinear constrained dynamic model of the dualvehicle cooperative transportation system. In terms of controller design, the UdwadiaKalaba (UK) method is first used to obtain the normminimal force required for the cargo to satisfy the trajectory tracking servo constraints, that is, the combined force acting on the cargo at the articulation point. Next, based on the minimum lateral forces principle of front and rear vehicles, an optimal allocation strategy for this combined force is designed, distributing it to the front and rear transport vehicles. The reaction forces of the distributed force components are modeled as the known external disturbances acting on the front and rear vehicles. Then, based on the feedforward compensation for the known external disturbances and the constraintfollowing control theory, the control forces required for the front and rear transport vehicles to satisfy the trajectory tracking servo constraints are designed. Finally, the simulation results show that the proposed cooperative control scheme achieves good trajectory tracking performance and significantly suppresses the lateral dynamic impact of the cargo on the transport vehicles, effectively enhancing the overall lateral stability of the cooperative transportation system.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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