scholarly journals A robust H∞-based steering assistance system for the wheeled tractor

2021 ◽  
Vol 104 (4) ◽  
pp. 003685042110537
Author(s):  
Cheng Shen ◽  
Suming Liang ◽  
Jinhao Liang ◽  
Guodong Yin
Keyword(s):  
Control Method ◽  
Mental Workload ◽  
Field Tests ◽  
Path Tracking ◽  
Assistance System ◽  
Pole Placement ◽  
Driver Model ◽  
Model Parameters ◽  
Technology System ◽  
Agricultural Machine

Agricultural machine automatic navigation poses great challenge to the precise agricultural technology system nowadays. To this end, this paper proposes a novel steering assistance system (SAS) to assist drivers in the path-tracking. First, the driver steering model is investigated through the driver simulator tests. Combining the wheeled tractor kinematics model, a driver-vehicle model is developed. Then, a polytopic linear parameter-varying (LPV) system is adopted to describe the uncertainties, including time-varying driver model parameters and velocity, in the model, based on which an output-feedback robust controller is developed to ensure robust stability within the polytope space. Moreover, a regional pole placement method is adopted to improve the transient performance of the system. Finally, driver-in-the-loop and field tests conducted to value the controller. The results show the effectiveness of the proposed method to improve the path-tracking performance for the agricultural machine navigation, while reducing the physical and mental workload of drivers. This control method is expected to be a paradigm for the precise navigation system of the agricultural machinery.

Motion Control of an Omni-Directional Walker for Walking Support

2013 ◽  
pp. 20-28
Author(s):  
Renpeng Tan ◽  
Shuoyu Wang ◽  
Yinlai Jiang ◽  
Kenji Ishida ◽  
Masakatsu G. Fujie
Keyword(s):  
Adaptive Control ◽  
Motion Control ◽  
Control Method ◽  
Center Of Gravity ◽  
Path Tracking ◽  
Reference Trajectory ◽  
Tracking Errors ◽  
Directed Movement ◽  
Load Change

With the increase in the percentage of the population defined as elderly, increasing numbers of people suffer from walking disabilities due to illness or accidents. An omni-directional walker (ODW) has been developed that can support people with walking disabilities and allow them to perform indoor walking. The ODW can identify the user’s directional intention based on the user’s forearm pressures and then supports movement in the intended direction. In this chapter, a reference trajectory is generated based on the intended direction in order to support directed movement. The ODW needs to follow the generated path. However, path tracking errors occur because the center of gravity (COG) of the system shifts and the load changes due to user`s pressure. An adaptive control method is proposed to deal with this issue. The results of simulations indicate that the ODW can accurately follow the user’s intended direction by inhibiting the influence of COG shifts and the resulting load change. The proposed scheme is feasible for supporting indoor movement.

Development of Path Tracking Control Algorithm for a 4 DOF Spatial Manipulator Using PID Controller

2017 ◽  
pp. 314-327
Author(s):  
Pradeep Reddy Bonikila ◽  
Ravi Kumar Mandava ◽  
Pandu Ranga Vundavilli
Keyword(s):  
Pid Controller ◽  
Dynamic Models ◽  
Control Method ◽  
Robotic Manipulator ◽  
Industrial Applications ◽  
Path Tracking ◽  
End Effector ◽  
Straight Line ◽  
Feedback Control Method ◽  
Manipulator Arm

The path tracking phenomenon of a robotic manipulator arm plays an important role, when the manipulators are used in continuous path industrial applications, such as welding, machining and painting etc. Nowadays, robotic manipulators are extensively used in performing the said tasks in industry. Therefore, it is essential for the manipulator end effector to track the path designed to perform the task in an effective way. In this chapter, an attempt is made to develop a feedback control method for a 4-DOF spatial manipulator to track a path with the help of a PID controller. In order to design the said controller, the kinematic and dynamic models of the robotic manipulator are derived. Further, the concept of inverse kinematics has been used to track different paths, namely a straight line and parabolic paths continuously. The effectiveness of the developed algorithm is tested on a four degree of freedom manipulator arm in simulations.

The Improved Algorithm to Preview Follower Control Applied Research on Intelligent Electric Vehicle

2014 ◽  
Vol 1079-1080 ◽  
pp. 1022-1025
Author(s):  
Sheng Rui Liu
Keyword(s):  
Electric Vehicle ◽  
Control Strategy ◽  
Control Method ◽  
Search Algorithm ◽  
Path Model ◽  
Driver Model ◽  
Domain Modeling ◽  
Steering Control ◽  
Tracking Accuracy ◽  
Electric Cars

This paper presents an improved preview follower, electric vehicle intelligent driver model of steering control strategy. And from the preview following the model proposed steering control method, and the preview follower algorithm, propose a new preview search algorithm, in order to ensure the preview points fall within the expected path, avoid the path curvature caused by excessive electric cars from the path. In addition, by considering the steady state response, to improve the precision of steering control strategy. Use of the multi domain modeling software Dipolar, combined with the electric vehicle dynamic model, the path model of the steering control strategy simulation. The simulation results show that the strategy is applied to electric vehicle path goal good tracking accuracy.

scholarly journals Path Tracking Control Method of a Modular Omnidirectional Vehicle.

2000 ◽  
Vol 66 (648) ◽  
pp. 2713-2720 ◽  
Author(s):  
Masafumi HASHIMOTO ◽  
Noriaki SUIZU ◽  
Fuminori OBA
Keyword(s):  
Tracking Control ◽  
Control Method ◽  
Path Tracking

scholarly journals Generalized velocity–density model based on microscopic traffic simulation

Transport ◽  
2017 ◽  
Vol 33 (2) ◽  
pp. 489-501 ◽  
Author(s):  
Oussama Derbel ◽  
Tamás Péter ◽  
Benjamin Mourllion ◽  
Michel Basset
Keyword(s):  
Large Scale ◽  
Interpolation Method ◽  
Function Class ◽  
Density Model ◽  
Driver Model ◽  
Practical Significance ◽  
Model Parameters ◽  
Practical Applications ◽  
Velocity Models ◽  
Traffic Characteristics

In case of the Intelligent Driver Model (IDM) the actual Velocity–Density law V(D) applied by this dynamic system is not defined, only the dynamic behaviour of the vehicles/drivers is determined. Therefore, the logical question is whether the related investigations enhance an existing and known law or reveal a new connection. Specifically, which function class/type is enhanced by the IDM? The publication presents a model analysis, the goal of which was the exploration of a feature of the IDM, which, as yet, ‘remained hidden’. The theoretical model results are useful, this analysis important in the practice in the field of hybrid control as well. The transfer of the IDM groups through large-scale networks has special practical significance. For example, in convoys, groups of special vehicle, safety measures with delegations. In this case, the large-scale network traffic characteristics and the IDM traffic characteristics should be taken into account simultaneously. Important characteristics are the speed–density laws. In case of effective modelling of large networks macroscopic models are used, however the IDMs are microscopic. With careful modelling, we cannot be in contradiction with the application of speed–density law, where there IDM convoy passes. Therefore, in terms of practical applications, it is important to recognize what kind of speed–density law is applied by the IDM convoys in traffic. Therefore, in our case the goal was not the validation of the model, but the exploration of a further feature of the validated model. The separate validation of the model was not necessary, since many validated applications for this model have been demonstrated in practice. In our calculations, also the applied model parameter values remained in the range of the model parameters used in the literature. This paper presents a new approach for Velocity–Density Model (VDM) synthesis. It consists in modelling separately each of the density and the velocity (macroscopic parameter). From this study, safety time headway (microscopic parameter) can be identified from macroscopic data by mean of interpolation method in the developed map of velocity–density. By combining the density and the velocity models, a generalized new VDM is developed. It is shown that from this one, some literature VDMs, as well as their properties, can be derived by fixing some of its parameters.

Impaired Driver Assistance Control With Gain-Scheduling Composite Nonlinear Feedback for Vehicle Trajectory Tracking

2020 ◽  
Vol 142 (7) ◽  
Author(s):  
Yimin Chen ◽  
Chuan Hu ◽  
Junmin Wang
Keyword(s):  
Trajectory Tracking ◽  
Controller Design ◽  
Gain Scheduling ◽  
Driver Model ◽  
Model Parameters ◽  
Nonlinear Feedback ◽  
Composite Nonlinear Feedback ◽  
The Road ◽  
Vehicle System ◽  
Feedback Algorithm

Abstract Impaired drivers have deteriorated driving performances that may greatly endanger the road safety. It is challenging to design assistance controllers for the impaired drivers because the impaired driver behaviors are difficult to be modeled and considered in the controller design. To this end, this paper proposes a gain-scheduling composite nonlinear feedback (GCNF) controller to assist the impaired drivers. A driver-vehicle system containing the impaired driver model is developed. The steering behaviors of the impaired drivers are described by deteriorating the driver model parameters and including the driver uncertainties. Based on the driver-vehicle system, a GCNF controller integrating the gain-scheduling technique, the weighted H∞ performance, and the composite nonlinear feedback algorithm is designed to handle the declined driving performances and improve the transient performances. The designed GCNF controller is validated in the carsim simulations. The simulation results show that the GCNF controller can effectively assist the impaired drivers of different impaired levels to reduce the trajectory tracking errors and improve the driving performances.

scholarly journals Automatic Parking Path Planning and Tracking Control Research for Intelligent Vehicles

2020 ◽  
Vol 10 (24) ◽  
pp. 9100
Author(s):  
Chenxu Li ◽  
Haobin Jiang ◽  
Shidian Ma ◽  
Shaokang Jiang ◽  
Yue Li
Keyword(s):  
Path Planning ◽  
Tracking Control ◽  
Control Method ◽  
Sliding Mode ◽  
Vehicle Control ◽  
Path Tracking ◽  
Intelligent Vehicles ◽  
Parking System ◽  
Automatic Parking ◽  
Real Vehicle

As a key technology for intelligent vehicles, automatic parking is becoming increasingly popular in the area of research. Automatic parking technology is available for safe and quick parking operations without a driver, and improving the driving comfort while greatly reducing the probability of parking accidents. An automatic parking path planning and tracking control method is proposed in this paper to resolve the following issues presented in the existing automatic parking systems, that is, low degree of automation in vehicle control; lack of conformity between segmented path planning and real vehicle motion models; and low success rates of parking due to poor path tracking. To this end, this paper innovatively proposes preview correction which can be applied to parking path planning, and detects the curvature outliers in the parking path through the preview algorithm. In addition, it is also available for correction in advance to optimize the reasonable parking path. Meanwhile, the dual sliding mode variable structure control algorithm is used to formulate path tracking control strategies to improve the path tracking control effect and the vehicle control automation. Based on the above algorithm, an automatic parking system was developed and the real vehicle test was completed, thus exploring a highly intelligent automatic parking technology roadmap. This paper provides two key aspects of system solutions for an automatic parking system, i.e., parking path planning and path tracking control.

scholarly journals DESAIN SISTEM KENDALI UMPAN BALIK STATE PADA KASUS KONTINYU UNTUK MEJA KERJA CNC

2019 ◽  
Vol 20 (2) ◽  
pp. 32
Author(s):  
Fakhruddin Mangkusasmito ◽  
Tsani Hendro Nugroho
Keyword(s):  
Control System ◽  
Rise Time ◽  
Manufacturing Industry ◽  
Position Control ◽  
Control Method ◽  
Tracking System ◽  
Settling Time ◽  
Numerical Control ◽  
Pole Placement ◽  
Work Table

Fakhruddin Mangkusasmito, Tsani Hendro Nugroho in this paper explain that One of the important control system in the manufacturing industry is the position control. Mainly in the Computer Numerical Control (CNC) machine, work-table motion control system is used to regulate work-table movements when the machine process a workpieces on it. On standard machines, work-table movements are two axes (X-Y), which is driven by a motor and lead-screw. The discussion in this research only focus on one axis assuming that the systems on both axes are the same and independent. In this research, MATLAB is used to describe the behaviour of the system and also to design appropriate control system in continuos system using state feedback linear controller such as pole placement , tracking system, full order compensator and reduced order compensator. The goal is to obtain a fast response with a rapid rise time and settling time to a step command, while not exceeding an overshoot of 5%. The specification are than a percent overshoot equal to1%, 0,05s settling time and 0,03s rise time. The performance of each control methods are simulated and analyzed to decide the best suit control method for the systems with such criteria. And the result verify that using tracking system controller method achieve such specification with 0% overshoot, 0,04s settling time and 0,028s rise time.

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