scholarly journals Performance Analysis of the Sliding Mode Control for Automated Vehicle Path Tracking at Low Adhesion Surfaces

2019 ◽  
Vol 296 ◽  
pp. 01003
Author(s):  
Ilya Kulikov ◽  
Ivan Ulchenko
Keyword(s):  
Vehicle Dynamics ◽  
Sliding Mode ◽  
Path Tracking ◽  
Difficult Case ◽  
Sliding Modes ◽  
Lateral Control ◽  
Automated Vehicle ◽  
Vehicle Motion ◽  
Vehicle Path ◽  
The Ideal

The article analyses prospects of using a type of robust controllers called relay regulators for automation of vehicle lateral motion. The operation of these regulators in so-called sliding modes is considered along with the “chattering” problem caused by deviations from the “ideal” sliding mode inevitable in actual implementations. For the analysis of vehicle motion, a mathematical model was elaborated, which calculates vehicle dynamics taking into account non-linear tire-road adhesion characteristics. In the conducted study, emphasis was put on low adhesion surfaces, which can be considered as the most difficult case for automatic lateral control of a vehicle. In order to implement automated path tracking within the model, two relay regulators were elaborated differing from one another in the order of dynamics. A comparative study of these regulators was conducted by means of simulations. The regulator that had shown best performance was then tested for robustness by means of modeling, in which maneuvers on snow, ice and a mixed surface were simulated.

scholarly journals Model Predictive Control With Learned Vehicle Dynamics for Autonomous Vehicle Path Tracking

IEEE Access ◽  
2021 ◽  
Vol 9 ◽  
pp. 128233-128249
Author(s):  
Mohammad Rokonuzzaman ◽  
Navid Mohajer ◽  
Saeid Nahavandi ◽  
Shady Mohamed
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Vehicle Dynamics ◽  
Autonomous Vehicle ◽  
Path Tracking ◽  
Vehicle Path

Research and Experiment on Path-Tracking Control of Autonomous Tractor Based on Lateral Deviation and Yaw Rate Feedback

2021 ◽  
Vol 37 (5) ◽  
pp. 891-899
Author(s):  
Bingli Zhang ◽  
Jin Cheng ◽  
Pingping Zheng ◽  
Aojia Li ◽  
Xiaoyu Cheng
Keyword(s):  
Tracking Control ◽  
Control Algorithm ◽  
Sliding Mode ◽  
Path Tracking ◽  
Steering Angle ◽  
Lateral Deviation ◽  
Yaw Rate ◽  
Automatic Navigation ◽  
Rate Feedback ◽  
The Ideal

HighlightsAutomatic navigation technology in autonomous tractors is one of the key technologies in precision agriculture.A path-tracking control algorithm based on lateral deviation and yaw rate feedback is proposed.The modified steering angle was obtained by comparing the ideal yaw rate with the actual yaw rate.The results demonstrate the efficiency and superior accuracy of the proposed algorithm for tractor path-tracking control.Abstract. The performance of path-tracking control systems for autonomous tractors affects the quality and efficiency of farmland operations. The objective of this study was to develop a path-tracking control algorithm based on lateral deviation and yaw rate feedback. The autonomous tractor path lateral dynamics model was developed based on preview theory and a two-degree-of-freedom tractor model. According to the established dynamic model, a path-tracking control algorithm using yaw angular velocity correction was designed, and the ideal steering angle was obtained by lateral deviation and sliding mode control. The modified steering angle was obtained by a proportional-integral-derivative feedback controller after comparing the ideal yaw rate with the actual yaw rate, which was then combined with the ideal steering angle to obtain the desired steering angle. The simulation and experimental results demonstrate the efficiency and superior accuracy of the proposed tractor path-tracking control algorithm, enabling its application in automatic navigation control systems for autonomous tractors. Keywords: Autonomous tractor, Path-tracking control, Sliding mode control, Yaw rate feedback.

Research on autonomous vehicle path tracking control considering roll stability

2020 ◽  
Vol 235 (1) ◽  
pp. 199-210
Author(s):  
Fen Lin ◽  
Shaobo Wang ◽  
Youqun Zhao ◽  
Yizhang Cai
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Vehicle Dynamics ◽  
Tracking Control ◽  
Autonomous Vehicle ◽  
Path Tracking ◽  
Proportional Integral Derivative ◽  
Proportional Integral ◽  
Vehicle Path ◽  
Target Path

For autonomous vehicle path tracking control, the general path tracking controllers usually only consider vehicle dynamics’ constraints, without taking vehicle stability evaluation index into account. In this paper, a linear three-degree-of-freedom vehicle dynamics model is used as a predictive model. A comprehensive control method combining Model Predictive Control and Fuzzy proportional–integral–derivative control is proposed. Model Predictive Control is used to control the vehicle yaw stability and track the target path by considering the front wheel angle, sideslip angle, tire slip angles, and yaw rate during the path tracking. Fuzzy proportional–integral–derivative algorithm is adopted to maintain the vehicle roll stability by controlling the braking force of each tire. Co-simulation with CarSim and MATLAB/Simulink shows the designed controller has good tracking performance. The controller is smooth and effective and ensures handling stability in tracking the target path.

An optimal path tracking architecture for automated vehicle

2019 ◽  
Vol 233 (9) ◽  
pp. 2352-2361 ◽  
Author(s):  
Zhiting Liu ◽  
Xiaofei Pei ◽  
Zhenfu Chen ◽  
Zhou Wei ◽  
Bo Yang
Keyword(s):  
Time Delay ◽  
Sliding Mode ◽  
Optimal Path ◽  
Path Tracking ◽  
Feedback Controller ◽  
Vehicle Speed ◽  
Automated Vehicle ◽  
Varying Time Delay ◽  
Feedforward Controller ◽  
Target Path

Nowadays, automated vehicle has attracted a lot of attention with the advantages of safety, comfort, and efficiency. This paper presents a path tracking architecture synthesizing a preview feedforward controller and an adaptive sliding mode feedback controller. First, the vehicle dynamics model and the geometric relationship between the target path and vehicle are described. Then, the feedforward controller is designed based on the multipoint preview, which could reduce the interference of road curvature and time delay of vehicle actuator. Subsequently, the feedback controller utilizing adaptive discrete sliding mode is proposed considering the robustness in different conditions. It has a few control parameters, fast convergence, and small stationary error of the direction and lateral distance. Eventually, real-time simulation results show that the automated vehicle could track the target path accurately under varying time delay, vehicle speed, and road adhesion. Furthermore, vehicle experiment results verify the effectiveness of path tracking.

scholarly journals Compliant Human–Robot Collaboration with Accurate Path-Tracking Ability for a Robot Manipulator

2021 ◽  
Vol 11 (13) ◽  
pp. 5914
Author(s):  
Daniel Reyes-Uquillas ◽  
Tesheng Hsiao
Keyword(s):  
Sliding Mode ◽  
Robot Manipulator ◽  
Industrial Robot ◽  
Path Following ◽  
Path Tracking ◽  
Control Loop ◽  
Loop Control ◽  
Tracking Ability ◽  
The Difference ◽  
Human Robot Collaboration

In this article, we aim to achieve manual guidance of a robot manipulator to perform tasks that require strict path following and would benefit from collaboration with a human to guide the motion. The robot can be used as a tool to increase the accuracy of a human operator while remaining compliant with the human instructions. We propose a dual-loop control structure where the outer admittance control loop allows the robot to be compliant along a path considering the projection of the external force to the tangential-normal-binormal (TNB) frame associated with the path. The inner motion control loop is designed based on a modified sliding mode control (SMC) law. We evaluate the system behavior to forces applied from different directions to the end-effector of a 6-DOF industrial robot in a linear motion test. Next, a second test using a 3D path as a tracking task is conducted, where we specify three interaction types: free motion (FM), force-applied motion (FAM), and combined motion with virtual forces (CVF). Results show that the difference of root mean square error (RMSE) among the cases is less than 0.1 mm, which proves the feasibility of applying this method for various path-tracking applications in compliant human–robot collaboration.

scholarly journals NonlinearL2-Gain Analysis of Hybrid Systems in the Presence of Sliding Modes and Impacts

2016 ◽  
Vol 2016 ◽  
pp. 1-10 ◽  
Author(s):  
T. Osuna ◽  
O. E. Montano ◽  
Y. Orlov
Keyword(s):  
Sliding Mode ◽  
Numerical Study ◽  
Sufficient Conditions ◽  
Disturbance Attenuation ◽  
Sliding Modes ◽  
Time Dynamics ◽  
Attenuation Level ◽  
Disturbance Factor ◽  
Disturbance Attenuation Level ◽  
The Impact

TheL2-gain analysis is extended towards hybrid mechanical systems, operating under unilateral constraints and admitting both sliding modes and collision phenomena. Sufficient conditions for such a system to be internally asymptotically stable and to possessL2-gain less than ana priorigiven disturbance attenuation level are derived in terms of two independent inequalities which are imposed on continuous-time dynamics and on discrete disturbance factor that occurs at the collision time instants. The former inequality may be viewed as the Hamilton-Jacobi inequality for discontinuous vector fields, and it is separately specified beyond and along sliding modes, which occur in the system between collisions. Thus interpreted, the former inequality should impose the desired integral input-to-state stability (iISS) property on the Filippov dynamics between collisions whereas the latter inequality is invoked to ensure that the impact dynamics (when the state trajectory hits the unilateral constraint) are input-to-state stable (ISS). These inequalities, being coupled together, form the constructive procedure, effectiveness of which is supported by the numerical study made for an impacting double integrator, driven by a sliding mode controller. Desired disturbance attenuation level is shown to satisfactorily be achieved under external disturbances during the collision-free phase and in the presence of uncertainties in the transition phase.

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