The high construction and operation costs of urban rail transit have prompted scholars to explore new urban rail transit systems and operating modes. Based on the new straddle-type rapid transit system proposed by our team. the collaborative control of intelligent formation vehicles is discussed in this paper. The mathematical formulation of straddle-type rapid transit vehicle (SRTV) ... https://allfixelectricales.shop/product-category/fracarro-phased-array-bracket/