An Efficient Trajectory Tracking Control for Tractor-trailer vehicle system
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- 英文论文题名：An Efficient Trajectory Tracking Control for Tractor-trailer vehicle system
- 论文作者：Ming Yue ; Xiaoqiang Hou ; Lu Yang
- 英文论文作者：Ming Yue ; Xiaoqiang Hou ; Lu Yang ; School of Automotive Engineering ; Dalian University of Technology
- 年：2017
- 作者机构：School of Automotive Engineering,Dalian University of Technology;
- 英文论文关键词：Tractor-trailer vehicle ; Trajectory tracking ; Linear quadratic regulator ; Model predictive control ; Sliding mode control
- 会议召开时间：2017-07-26
- 会议录名称：第36届中国控制会议论文集（A）
- 英文会议录名称：Proceedings of the 36th Chinese Control Conference（A）
- 语种：英文
- 分类号：U469.5
- 学会代码：KZLL
- 会议名称：第36届中国控制会议
- 会议地点：中国辽宁大连
- 主办单位：中国自动化学会控制理论专业委员会
- 学会名称：中国自动化学会控制理论专业委员会
- 页数：6
- 文件大小：308k
- 原文格式：D
- 会议级别：全国
摘要
This article mainly presents a control method for an underactuated tractor-trailer vehicle, subject to the nonholonomic constraint, uncertain disturbance and various physical limits, which is aimed at receiving a good tracking performance. All in all, linear quadratic regulator(LQR) and model predictive control(MPC) are used to design the posture controller to make the midpoint of two parallel plating wheels for the underactuated trailer follow an arbitrary reference trajectory given by earth-fixed frame, and sliding mode control(SMC) is introduced to design the dynamic controller for the tracking of the desired velocities produced by the posture controller. The simulation results validate the control strategy consisting of the MPC-based kinematic controller and the SMC-based dynamic controller is rather effective and efficient for the underactuated tractor-trailer vehicle,thereby demonstrating the effectiveness and feasibility of the proposed controllers.
This article mainly presents a control method for an underactuated tractor-trailer vehicle, subject to the nonholonomic constraint, uncertain disturbance and various physical limits, which is aimed at receiving a good tracking performance. All in all, linear quadratic regulator(LQR) and model predictive control(MPC) are used to design the posture controller to make the midpoint of two parallel plating wheels for the underactuated trailer follow an arbitrary reference trajectory given by earth-fixed frame, and sliding mode control(SMC) is introduced to design the dynamic controller for the tracking of the desired velocities produced by the posture controller. The simulation results validate the control strategy consisting of the MPC-based kinematic controller and the SMC-based dynamic controller is rather effective and efficient for the underactuated tractor-trailer vehicle,thereby demonstrating the effectiveness and feasibility of the proposed controllers.
This article mainly presents a control method for an underactuated tractor-trailer vehicle, subject to the nonholonomic constraint, uncertain disturbance and various physical limits, which is aimed at receiving a good tracking performance. All in all, linear quadratic regulator(LQR) and model predictive control(MPC) are used to design the posture controller to make the midpoint of two parallel plating wheels for the underactuated trailer follow an arbitrary reference trajectory given by earth-fixed frame, and sliding mode control(SMC) is introduced to design the dynamic controller for the tracking of the desired velocities produced by the posture controller. The simulation results validate the control strategy consisting of the MPC-based kinematic controller and the SMC-based dynamic controller is rather effective and efficient for the underactuated tractor-trailer vehicle,thereby demonstrating the effectiveness and feasibility of the proposed controllers.
引文
[1]A.W.Divelbiss and J.T.Wen,“Trajectory tracking control of a car-trailer system,”IEEE Transactions on Control Systems Technology,vol.5,no.3,pp.269–278,1997.
[2]A.Astolfi,P.Bolzern,and A.Locatelli,“Path-tracking of a tractor-trailer vehicle along rectilinear and circular paths:a lyapunov-based approach,”IEEE transactions on robotics and automation,vol.20,no.1,pp.154–160,2004.
[3]D.P.Cao,X.B.Song,and M.Ahmadian,“Editors perspectives:road vehicle suspension design,dynamics,and control,”Vehicle System Dynamics,vol.49,pp.3–28,2011.
[4]E.Kayacan,E.Kayacan,H.Ramon,and W.Saeys,“Learning in centralized nonlinear model predictive control:application to an autonomous tractor-trailer system,”IEEE Transactions on Control Systems Technology,vol.23,no.1,pp.197–205,2015.
[5]M.M.Micha?ek and M.Kie?czewski,“The concept of passive control assistance for docking maneuvers with n-trailer vehicles,”IEEE/ASME Transactions on Mechatronics,vol.20,no.5,pp.2075–2084,2015.
[6]D.G.Dorrell,A.Vinel,and D.P.Cao,“Connected vehicles-advancements in vehicular technologies and informatics,”IEEE Transactions on Industrial Electronics,vol.62,no.12,pp.7824–7826,2015.
[7]X.Yang and J.Xiong,“Nonlinear yaw dynamics analysis and control for the tractorcsemitrailer vehicle,”International Journal of Heavy Vehicle Systems,vol.20,no.3,p.253,2013.
[8]L.Li,X.N.Su,Y.Zhang,Y.T.Lin,and Z.H.Li,“Trend modeling for traffic time series analysis:An integrated study,”IEEE Transactions on Intelligent Transportation Systems,vol.16,no.6,pp.3430–3439,2015.
[9]J.Yuan,F.C.Sun,and Y.L.Huang,“Trajectory generation and tracking control for double-steering tractorctrailer mobile robots with on-axle hitching,”IEEE Transactions on Industrial Electronics,vol.62,no.12,pp.7665–7677,2015.
[10]L.X.Zhang,S.L.Zhuang,and R.D.Braatz,“Switched model predictive control of switched linear systems:Feasibility,stability and robustness,”Automatica,vol.67,pp.8–21,2016.
[2]A.Astolfi,P.Bolzern,and A.Locatelli,“Path-tracking of a tractor-trailer vehicle along rectilinear and circular paths:a lyapunov-based approach,”IEEE transactions on robotics and automation,vol.20,no.1,pp.154–160,2004.
[3]D.P.Cao,X.B.Song,and M.Ahmadian,“Editors perspectives:road vehicle suspension design,dynamics,and control,”Vehicle System Dynamics,vol.49,pp.3–28,2011.
[4]E.Kayacan,E.Kayacan,H.Ramon,and W.Saeys,“Learning in centralized nonlinear model predictive control:application to an autonomous tractor-trailer system,”IEEE Transactions on Control Systems Technology,vol.23,no.1,pp.197–205,2015.
[5]M.M.Micha?ek and M.Kie?czewski,“The concept of passive control assistance for docking maneuvers with n-trailer vehicles,”IEEE/ASME Transactions on Mechatronics,vol.20,no.5,pp.2075–2084,2015.
[6]D.G.Dorrell,A.Vinel,and D.P.Cao,“Connected vehicles-advancements in vehicular technologies and informatics,”IEEE Transactions on Industrial Electronics,vol.62,no.12,pp.7824–7826,2015.
[7]X.Yang and J.Xiong,“Nonlinear yaw dynamics analysis and control for the tractorcsemitrailer vehicle,”International Journal of Heavy Vehicle Systems,vol.20,no.3,p.253,2013.
[8]L.Li,X.N.Su,Y.Zhang,Y.T.Lin,and Z.H.Li,“Trend modeling for traffic time series analysis:An integrated study,”IEEE Transactions on Intelligent Transportation Systems,vol.16,no.6,pp.3430–3439,2015.
[9]J.Yuan,F.C.Sun,and Y.L.Huang,“Trajectory generation and tracking control for double-steering tractorctrailer mobile robots with on-axle hitching,”IEEE Transactions on Industrial Electronics,vol.62,no.12,pp.7665–7677,2015.
[10]L.X.Zhang,S.L.Zhuang,and R.D.Braatz,“Switched model predictive control of switched linear systems:Feasibility,stability and robustness,”Automatica,vol.67,pp.8–21,2016.