To achieve the running control of the all-wheel-driving and active-steering articulated vehicles (AWDASAVs) with n-units, an adaptive tracking control method is proposed in this paper, which includes a real-time target trajectory generation and an adaptive tracking control system. Firstly, the AWDASAV kinematics model is derived, and then the front-axle trace as the target trajectory is computed for all rear-axle steering by using data compressing and filtering, coordinate transformation, and local spline differences, which has small data storage and high computational efficiency and makes it easier to use in AWDASAV. Secondly, an adaptive tracking control system composed of an adaptive active steering controller and a differential distribution controller is designed to achieve accurate trajectory tracking and coordinated movement for AWDASAV. Finally, the AWDASAV simulation model with five-units was built in ADAMS by code development for cross-validation simulation, and the simulations with two cases at various speeds are carried out to verify the simulation model and control method. To further investigate the proposed method, the influence of three parameters on the tracking control performance and comparison with different control methods are carried out. The results exhibit excellent tracking control performance.

为了实现全轮驱动和主动转向铰接式车辆（AWDASAVs）与运行控制ñ-units，本文提出了一种自适应跟踪控制方法，包括实时目标轨迹生成和自适应跟踪控制系统。首先推导出AWDASAV运动学模型，然后利用数据压缩滤波、坐标变换、局部样条差分等方法，计算出所有后桥转向的前桥轨迹作为目标轨迹，数据存储量小、计算效率并使其更易于在 AWDASAV 中使用。其次，设计了由自适应主动转向控制器和差动分配控制器组成的自适应跟踪控制系统，以实现AWDASAV的精确轨迹跟踪和协调运动。最后，在ADAMS中通过代码开发建立了五单元AWDASAV仿真模型进行交叉验证仿真，并进行了两种不同速度下的仿真，验证了仿真模型和控制方法。为了进一步研究所提出的方法，进行了三个参数对跟踪控制性能的影响以及与不同控制方法的比较。结果显示出优异的跟踪控制性能。