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Date of download: 10/13/2017 Copyright © ASME. All rights reserved.

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1 Date of download: 10/13/2017 Copyright © ASME. All rights reserved. From: Composite Path Tracking Control for Tractor–Trailer Vehicles Via Constrained Model Predictive Control and Direct Adaptive Fuzzy Techniques J. Dyn. Sys., Meas., Control. 2017;139(11): doi: / Figure Legend: Schematic diagram of tractor–trailer vehicle system

2 Date of download: 10/13/2017 Copyright © ASME. All rights reserved. From: Composite Path Tracking Control for Tractor–Trailer Vehicles Via Constrained Model Predictive Control and Direct Adaptive Fuzzy Techniques J. Dyn. Sys., Meas., Control. 2017;139(11): doi: / Figure Legend: Schematic diagram of the direct adaptive fuzzy control system

3 Date of download: 10/13/2017 Copyright © ASME. All rights reserved. From: Composite Path Tracking Control for Tractor–Trailer Vehicles Via Constrained Model Predictive Control and Direct Adaptive Fuzzy Techniques J. Dyn. Sys., Meas., Control. 2017;139(11): doi: / Figure Legend: Time responses of trajectory tracking for the tractor–trailer vehicle

4 Date of download: 10/13/2017 Copyright © ASME. All rights reserved. From: Composite Path Tracking Control for Tractor–Trailer Vehicles Via Constrained Model Predictive Control and Direct Adaptive Fuzzy Techniques J. Dyn. Sys., Meas., Control. 2017;139(11): doi: / Figure Legend: Structure of an adaptive fuzzy logic system

5 Date of download: 10/13/2017 Copyright © ASME. All rights reserved. From: Composite Path Tracking Control for Tractor–Trailer Vehicles Via Constrained Model Predictive Control and Direct Adaptive Fuzzy Techniques J. Dyn. Sys., Meas., Control. 2017;139(11): doi: / Figure Legend: Tracking errors for state variables

6 Date of download: 10/13/2017 Copyright © ASME. All rights reserved. From: Composite Path Tracking Control for Tractor–Trailer Vehicles Via Constrained Model Predictive Control and Direct Adaptive Fuzzy Techniques J. Dyn. Sys., Meas., Control. 2017;139(11): doi: / Figure Legend: ex,ey,andeφ in three-dimensional (3D) space

7 Date of download: 10/13/2017 Copyright © ASME. All rights reserved. From: Composite Path Tracking Control for Tractor–Trailer Vehicles Via Constrained Model Predictive Control and Direct Adaptive Fuzzy Techniques J. Dyn. Sys., Meas., Control. 2017;139(11): doi: / Figure Legend: ex, ey, and eθ in 3D space

8 Date of download: 10/13/2017 Copyright © ASME. All rights reserved. From: Composite Path Tracking Control for Tractor–Trailer Vehicles Via Constrained Model Predictive Control and Direct Adaptive Fuzzy Techniques J. Dyn. Sys., Meas., Control. 2017;139(11): doi: / Figure Legend: Time response of linear velocity tracking

9 Date of download: 10/13/2017 Copyright © ASME. All rights reserved. From: Composite Path Tracking Control for Tractor–Trailer Vehicles Via Constrained Model Predictive Control and Direct Adaptive Fuzzy Techniques J. Dyn. Sys., Meas., Control. 2017;139(11): doi: / Figure Legend: Time response of angular velocity tracking

10 Date of download: 10/13/2017 Copyright © ASME. All rights reserved. From: Composite Path Tracking Control for Tractor–Trailer Vehicles Via Constrained Model Predictive Control and Direct Adaptive Fuzzy Techniques J. Dyn. Sys., Meas., Control. 2017;139(11): doi: / Figure Legend: Actual and desired hitch angle for tractor–trailer vehicle

11 Date of download: 10/13/2017 Copyright © ASME. All rights reserved. From: Composite Path Tracking Control for Tractor–Trailer Vehicles Via Constrained Model Predictive Control and Direct Adaptive Fuzzy Techniques J. Dyn. Sys., Meas., Control. 2017;139(11): doi: / Figure Legend: Control inputs for tractor–trailer vehicle


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