An adaptive tracking control method for the all-wheel-driving and active-steering articulated vehicle with n-units

2021 ◽  
pp. 095440702110506
Author(s):  
Dehua Zhang ◽  
Caijin Yang ◽  
Weihua Zhang ◽  
Yao Cheng
Keyword(s):  
Control System ◽  
Simulation Model ◽  
Tracking Control ◽  
Control Method ◽  
Small Data ◽  
Control Performance ◽  
Adaptive Tracking Control ◽  
Adaptive Tracking ◽  
Target Trajectory ◽  
Active Steering

To achieve the running control of the all-wheel-driving and active-steering articulated vehicles (AWDASAVs) with n-units, an adaptive tracking control method is proposed in this paper, which includes a real-time target trajectory generation and an adaptive tracking control system. Firstly, the AWDASAV kinematics model is derived, and then the front-axle trace as the target trajectory is computed for all rear-axle steering by using data compressing and filtering, coordinate transformation, and local spline differences, which has small data storage and high computational efficiency and makes it easier to use in AWDASAV. Secondly, an adaptive tracking control system composed of an adaptive active steering controller and a differential distribution controller is designed to achieve accurate trajectory tracking and coordinated movement for AWDASAV. Finally, the AWDASAV simulation model with five-units was built in ADAMS by code development for cross-validation simulation, and the simulations with two cases at various speeds are carried out to verify the simulation model and control method. To further investigate the proposed method, the influence of three parameters on the tracking control performance and comparison with different control methods are carried out. The results exhibit excellent tracking control performance.

A novel tracking control method for the distributed-drive and active-steering articulated virtual rail train

2021 ◽  
pp. 095965182110274
Author(s):  
Dehua Zhang ◽  
Caijin Yang ◽  
Weihua Zhang ◽  
Yao Cheng
Keyword(s):  
Control System ◽  
Data Storage ◽  
Tracking Control ◽  
Control Method ◽  
Trajectory Generation ◽  
Front Axle ◽  
Steering Control ◽  
Differential Distribution ◽  
Target Trajectory ◽  
Active Steering

To realize the running control of distributed-drive and active-steering articulated virtual rail trains travelling on urban roads under non-contact virtual rail constraints, target trajectory generation and active-steering control are crucial issues. In this article, a novel tracking control method is proposed, which includes a dynamic target trajectory generation and a new active-steering tracking control system. First, a distributed-drive and active-steering articulated virtual rail train kinematics model with n-sections is derived, and then a new target trajectory generation method is proposed using data filtering and compression, coordinate transformation and spline difference, and the simulation comparison shows that the proposed method has less data storage space and high computational efficiency. Second, a new active-steering tracking control system composed of a rear axle preview active-steering controller, a front axle coordinated steering controller, and a differential-distribution controller is designed to achieve tracking control and coordinated movement of distributed-drive and active-steering articulated virtual rail train. Finally, a distributed-drive and active-steering articulated virtual rail train simulation model was constructed in ADAMS, and then simulations are performed under three rail conditions and compared with the other two methods, which show that the proposed method has good tracking control accuracy, adaptability, and superiority under various rails and different speeds.

Hybrid adaptive tracking control method for mobile manipulator robot based on Proportional–Integral–Derivative technique

2021 ◽  
pp. 095440622110149
Author(s):  
Thanglong Mai
Keyword(s):  
Control System ◽  
Tracking Control ◽  
Control Method ◽  
Fuzzy Neural Networks ◽  
Mobile Manipulator ◽  
Proportional Integral Derivative ◽  
Adaptive Tracking Control ◽  
Proportional Integral ◽  
Adaptive Tracking ◽  
Manipulator Robot

In this research, an adaptive tracking control method for the nonholonomic robot system is addressed based on the hybrid Proportional–Integral–Derivative (PID) technique. The proposed hybrid PID scheme first applies the merits of the traditional PID method, with the online self-learning capability for the PID – gains, to force tracking errors to zero in the presence of uncertainties. Then, in order to improve the tracking performance, an adaptive Fuzzy Neural Networks (FNN) approximator and an adaptive robust controller type-compensator are utilized to relax the uncertainties problems of the robot control system. Moreover, the nonholonomic constraint force stability of the mobile manipulator robot is also considered by an adaptive control scheme. The design of online updating laws for the proposed controllers and FNN approximator are designed by applying the Lyapunov stability theorem. Thus, besides the improvement for tracking control performance, the stability of the proposed control system is also maintained. The effectiveness, robustness and adaptability of the proposed control strategy are verified by comparative numerical simulation results.

scholarly journals Designing the Adaptive Tracking Controller for Uncertain Fully Actuated Dynamical Systems with Additive Disturbances Based on Sliding Mode

2016 ◽  
Vol 2016 ◽  
pp. 1-11
Author(s):  
Chi Nguyen Van
Keyword(s):  
Dynamical Systems ◽  
Tracking Control ◽  
Control Method ◽  
Sliding Mode ◽  
Control Law ◽  
Uncertain Parameters ◽  
Transient Time ◽  
Vertical Movements ◽  
Adaptive Tracking Control ◽  
Adaptive Tracking

This paper addresses the problem of adaptive tracking control for uncertain fully actuated dynamical systems with additive disturbance (FDSA) based on the sliding mode. We use the adaptive mechanism to adjust the uncertain parameters in sliding mode control law which can be switched to two modes depending on the sliding surface. By choosing appropriately the parameters in control law, the desired transient time can be obtained without effects of uncertain parameters and additive disturbances. The chattering phenomenon can be minimized by a chosen constant. This control method is applied to the angles tracking control of the twin rotor multi-input multi-output system (TRMS) which have nonlinear characteristics, the input torque disturbances and the coupling between the horizontal and vertical movements. The simulation and experimental results are presented that validate the proposed solution.

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