Theses and Dissertations

Issuing Body

Mississippi State University


Liu, Yucheng

Committee Member

Ball, John E.

Committee Member

Mazzola, Michael

Date of Degree


Original embargo terms


Document Type

Graduate Thesis - Open Access


Mechanical Engineering

Degree Name

Master of Science


James Worth Bagley College of Engineering


Department of Mechanical Engineering


A dynamic modeling framework was established to predict the position and alignment (turning angle) of a tractor-dolly towing system receiving different driver inputs. This framework consists of three primary components: (1) a state space model to determine position and velocity of the system through Newton’s second law; (2) a model that transfers angular acceleration through each successive towed vehicle; and (3) a polygon model to draw an instantaneous shape of the vehicle representing its location and alignment. Input parameters of this model include initial conditions of the system, real time location of a reference point that can be determined through a beacon and radar system, and instantaneous accelerations, which come from driver maneuvers found on a data collecting system installed on the tractor. The purpose is to create an output that presents the position of the dolly vehicles with reference to the tractor at any time point.