An investigation on steering optimization for minimum turning radius of multi-axle crane based on MPC algorithm

The study investigates on the optimized steering wheel angle for minimum turning radius of all-terrain crane by applying a model predictive control (MPC) strategy. For this, the simplified linear bicycle model and error dynamic model are firstly derived for the crane with a multi-axle steering system. Then, MPC controller is designed with an optimal objective function to minimize the vehicle dynamic error for minimum turning radius. The minimum turning radius and corresponding optimized steering angle at different vehicle speeds are analyzed in the MATLAB/Simulink environment.