Feedback Linearization Control for Path Tracking of Articulated Dump Truck

The articulated dump truck is a widespread tansport vehicle for narrow rough terrain environment. To achieve the autonomous driving in the underground tunnel, this ariticle proporses a path following strategy of articulated vehicle based on feedback linearization algorithm. Fisrt of all, the articulated vehicle kinematics model, which reflects the relationship of the structure parameters and state variables, is established. Refering to the model, the nonlinear errors equation between real path and reference path, which are as the feedback from the path tracking process, is solved and linearized. After estimating the system controllable, according to the error equation, the path following controller with feedback linearization algorithm is designed through calaculating the parameters with the pole assignment. Finally, the hardware in the loop simulation on NI cRIO and PXI controller is lunched for verifying the control quality and real-time path tracking performance

Poly[[diaqua­bis(μ2-isonicotinato-κ2 N:O)bis­(μ3-isonicotinato-κ3 N:O:O′)neodymium(III)disilver(I)] nitrate monohydrate]

In the title complex, {[Ag2Nd(C6H4NO2)4(H2O)2]NO3·H2O}n, the NdIII ion is coordinated by eight O atoms from six isonicotinate ligands and two water mol­ecules in a distorted square anti­prismatic geometry. Each AgI ion is coordinated by two N atoms from two different isonicotinate ligands. The crystal structure exhibits a two-dimensional heterometallic polymeric layer. O—H⋯O hydrogen bonds involving the coordinated and uncoordinated water mol­ecules and intra­layer π–π inter­actions between the pyridine rings [centroid–centroid distances = 3.571 (2) and 3.569 (2) Å] are observed. Each layer inter­acts with two neighboring ones via Ag⋯O(H2O) contacts and inter­layer π–π inter­actions [centroid–centroid distances = 3.479 (3) to 3.530 (3) Å], leading to a three-dimensional supra­molecular network