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First, a dynamic model for the articulated virtual rail train with N-unit is derived with 11N degrees of freedom. Second, based on the dynamic model, a steering control system is designed, which includes the following sub-controllers: a unit 1 front-axle steering controller and a unit 1\u223cN rear-axle steering controller for approaching the virtual target path, a unit 2\u223cN front-axle steering controller for coordinating the movement of adjacent units, and a four-wheel-steering (4WS) controller for each unit. Finally, a numerical simulation model of the train with five units is built in MATLAB, and a cross-validation model is built in ADAMS software. The simulation and verification results show that the tracking errors are within 50\u2009mm, and the lateral articulation forces are less than 2\u2009kN, which indicates that the designed control system has a good tracking performance.<\/jats:p>","DOI":"10.1177\/09596518231153688","type":"journal-article","created":{"date-parts":[[2023,2,24]],"date-time":"2023-02-24T02:35:46Z","timestamp":1677206146000},"page":"1219-1234","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":2,"title":["A tracking control method for articulated virtual rail train with N-unit based on the dynamic model"],"prefix":"10.1177","volume":"237","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3697-6673","authenticated-orcid":false,"given":"Jun","family":"Chen","sequence":"first","affiliation":[{"name":"State Key Laboratory of Traction Power, Southwest Jiaotong University, Chengdu, 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