A Robust Look-ahead Distance Tuning Strategy for the Geometric Path Tracking Controllers

2018 ◽  
Author(s):  
Longsheng Chen ◽  
Ni Liu ◽  
Yunxiao Shan ◽  
Long Chen
Keyword(s):  
Path Tracking ◽  
Look Ahead ◽  
Tracking Controllers ◽  
Tuning Strategy

scholarly journals A New Path Tracking Method Based on Multilayer Model Predictive Control

2019 ◽  
Vol 9 (13) ◽  
pp. 2649 ◽  
Author(s):  
Guoxing Bai ◽  
Yu Meng ◽  
Li Liu ◽  
Weidong Luo ◽  
Qing Gu ◽  
...  
Keyword(s):  
Model Predictive Control ◽  
Real Time ◽  
Predictive Control ◽  
Control Method ◽  
Control Period ◽  
Path Tracking ◽  
Positioning Systems ◽  
The Real ◽  
Time Performance ◽  
Tracking Controllers

At present, many path tracking controllers are unable to actively adjust the longitudinal velocity according to path information, such as the radius of the curve, to further improve tracking accuracy. For this problem, we propose a new path tracking framework based on model predictive control (MPC). This is a multilayer control system that includes three path tracking controllers with fixed velocities and a velocity decision controller. This new control method is named multilayer MPC. This new control method is compared to other control methods through simulation. In this paper, the maximum values of the displacement error and the heading error of multilayer MPC are 92.92% and 77.02%, respectively, smaller than those of nonlinear MPC. The real-time performance of multilayer MPC is very good, and parallel computation can further improve the real-time performance of this control method. In simulation results, the calculation time of multilayer MPC in each control period does not exceed 0.0130 s, which is much smaller than the control period. In addition, when the error of positioning systems is at the centimeter level, the performance of multilayer MPC is still good.

Spatial Path Tracking Controllers for Autonomous Ground Vehicles: Conventional and Nonconventional Schemes

2021 ◽  
Vol 01 (01) ◽  
pp. 2150003
Author(s):  
Peng Wang ◽  
Di An ◽  
Ning Chen ◽  
Yang Quan Chen
Keyword(s):  
Path Tracking ◽  
Spatial Distance ◽  
Ground Vehicles ◽  
Control Laws ◽  
Tracking Controllers ◽  
Tracking Controller ◽  
Different Types ◽  
Proportional Controller ◽  
Optimization Search ◽  
Fractional Order Integral

Unlike time-based path tracking controllers, the [Formula: see text]-controller is a spatial path tracking controller. It is a purely geometric path tracking controller and essentially a P-controller to maintain the reasonable spatial distance, [Formula: see text], from the vehicle to the desired path. In this paper, we present some enhancement schemes using the non-conventional PI control laws via optimization. We propose to use a nonlinear term [Formula: see text] for the proportional controller. A fractional-order integral used to achieve a PI[Formula: see text] control. Among the schemes, an optimization search procedure applied to find optimal controller gains by meshing the regions around the values from approximate linear designs. The performance index for parametric optimization is the integration of the absolute purely spatial deviation from the desired path. Three different types of road shape were chosen and the Gazebo-ROS simulation results were presented to show the effectiveness of the proposed enhancement schemes. The results show that in some cases a smaller [Formula: see text] and [Formula: see text] can be achieved by using [Formula: see text] controller, but its disadvantage is there may be some oscillation. For PI[Formula: see text] controller, there is an additional adjustable parameter [Formula: see text], better performance can be achieved without significant disadvantages which is worth in-depth research.

Control Algorithm for the Path Tracking of the Nonholonomic Mobile Robots

2015 ◽  
Vol 816 ◽  
pp. 154-159
Author(s):  
Ľubica Miková ◽  
Alexander Gmiterko ◽  
Jaromír Jezný
Keyword(s):  
Computer Simulation ◽  
Mobile Robots ◽  
Control Algorithm ◽  
Path Tracking ◽  
Nonholonomic Mobile Robots ◽  
Tracking Controllers

Many applications in robotics require precise tracking of the prescribed path. The classic “tracking controllers” are not appropriate for this type of tasks, because they do not guarantee that the robot remains on the prescribed path. The aim of this paper is to propose and to verify, by means of computer simulation, the method of control, which ensures that the “output” of the robot will move along the prescribed path.

Tracking Controllers for Robot Manipulators: A High Gain Perspective

1988 ◽  
Vol 110 (1) ◽  
pp. 39-45 ◽  
Author(s):  
Suhada Jayasuriya ◽  
Cheng Neng Hwang
Keyword(s):  
Tracking Error ◽  
High Gain ◽  
Path Tracking ◽  
Control Effort ◽  
Gain Parameter ◽  
Tracking Controllers ◽  
On Line ◽  
Line Selection ◽  
Selection Of ◽  
Computed Torque

We propose a controller for the path tracking problem of robotic manipulators. The proposed controller structure is similar to that of the “computed-torque” scheme widely known in the literature. Unlike the computed-torque scheme, this controller is robust with respect to parameter uncertainty and disturbances. The robustness is given by a high gain mechanism that works in conjunction with a nonlinear precompensator in the control loop. The fundamental action of the high gain is to minimize the effective uncertainty that remains, subsequent to any cancellation by the precompensator. Comparison of the performance of this controller with two other schemes reported in the literature suggests that it performs as effectively. An interesting relationship among the high-gain, the control effort and the accuracy of tracking is identified for a special class of path-tracking that is commensurate with zero tracking error. The synthesis of this controller is easily formulated and its performance is dictated primarily by a single high-gain parameter, making it particularly attractive for on-line tuning. Some guidelines are given for the off-line selection of this high-gain parameter.

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