Analytical Study on the Cornering Behavior of an Articulated Tracked Vehicle

Articulated tracked vehicles have been traditionally studied and appreciated for the extreme maneuverability mobility flexibility in terms of grade side slope capabilities. The articulation joint represents an attractive advantageous solution, if compared to traditional skid steering operation, by avoiding any trust adjustment between outside inside tracks. This paper focuses on analysis control articulated vehicle characterized two units connected through a mechanical multiaxial that is hydraulically actuated allow operation. A realistic eight degrees freedom mathematical model introduced include main nonlinearities involved behavior. linearized further proposed analytically characterize cornering steady-state transient behaviors small lateral accelerations. Finally, hitch angle controller designed proposing torque-based speed-based Proportional Integral Derivative (PID) logics. also verified simulating maneuvers typically adopted handling analysis.