Investigation on adaptive preview distance path tracking control with directional error compensation

2019 ◽  
Vol 234 (4) ◽  
pp. 484-500 ◽  
Author(s):  
Wei Liu ◽  
Ruochen Wang ◽  
Chenyang Xie ◽  
Qing Ye
Keyword(s):  
Hierarchical Structure ◽  
Error Compensation ◽  
Tracking Control ◽  
Sliding Mode ◽  
Path Tracking ◽  
Lateral Acceleration ◽  
Sliding Mode Controller ◽  
Directional Error ◽  
Tracking Controller ◽  
Lane Change Test

Path tracking control cannot effectively satisfy the stability requirements of intelligent vehicles under large curvature conditions. To solve this problem, an adaptive preview distance path tracking controller with a hierarchical structure is proposed in this study. The vehicle centroid lateral acceleration and lateral error of the preview point are taken as the inputs of the upper controller, and the optimal preview distance is obtained based on fuzzy inference. To eliminate the subjective influence of the membership function and fuzzy rule selection in the fuzzy controller design, a genetic algorithm is used for optimization. The lower controller is a sliding mode controller that aims to achieve intelligent vehicle self-tracking. Moreover, a radial basis function neural network is adopted to combine with the sliding mode controller to eliminate output chattering. However, adaptive adjustment of the preview distance deteriorates the vehicle directional tracking error, which makes controlling the vehicle at the road curvature switching point difficult. Thus, a directional error compensation controller is designed based on the iterative learning theory to compensate the front wheel steering angle. Simulations under two standard conditions are carried out to verify the control effect. The results show that, in a double lane change test, the peak centroid acceleration and coaxial load transfer rates decreased by 26.91% and 19.83% at low velocity, respectively, and the improvements at high velocity were 42.71% and 39.22%, respectively. In the pylon course slalom test, all three performance indicators decreased by more than 30%, which indicates the modified adaptive preview distance path tracking controller with a hierarchical structure can effectively improve the vehicle handling performance and roll stability and can ensure the tracking accuracy.

scholarly journals Observer-Based Sliding Mode Control for Path Tracking of a Spherical Robot

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-15 ◽  
Author(s):  
Majid Taheri Andani ◽  
Zahra Ramezani ◽  
Saeed Moazami ◽  
Jinde Cao ◽  
Mohammad Mehdi Arefi ◽  
...  
Keyword(s):  
Tracking Control ◽  
Sliding Mode ◽  
Path Tracking ◽  
Sliding Mode Controller ◽  
Control Methods ◽  
Lyapunov Theorem ◽  
Spherical Robot ◽  
Tracking Errors ◽  
Advanced Control ◽  
Overall Stability

Due to their complicated dynamics and underactuated nature, spherical robots require advanced control methods to reveal all their manoeuvrability features. This paper considers the path tracking control problem of a spherical robot equipped with a 2-DOF pendulum. The pendulum has two input torques that allow it to take angles about the robot’s transverse and longitudinal axes. Due to mechanical technicalities, it is assumed that these angles are immeasurable. First, a neural network observer is designed to estimate the pendulum angles. Then a modified sliding mode controller is proposed for the robot’s tracking control in the presence of uncertainties. Next, the Lyapunov theorem is utilized to analyse the overall stability of the proposed scheme, including the convergence of the observer estimation and the trajectory tracking errors. Finally, simulation results are provided to indicate the effectiveness of the proposed method in comparison with the other available control approaches.

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.

scholarly journals Autonomous Underwater Vehicle Robust Path Tracking: Auto-Adjustable Gain High Order Sliding Mode Controller

2018 ◽  
Vol 51 (13) ◽  
pp. 161-166 ◽  
Author(s):  
J. Guerrero ◽  
E. Antonio ◽  
A. Manzanilla ◽  
J. Torres ◽  
R. Lozano
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Sliding Mode ◽  
Underwater Vehicle ◽  
Path Tracking ◽  
High Order ◽  
Sliding Mode Controller

scholarly journals Sliding Mode Control of Laterally Interconnected Air Suspensions

2020 ◽  
Vol 10 (12) ◽  
pp. 4320 ◽  
Author(s):  
Dou Guowei ◽  
Yu Wenhao ◽  
Li Zhongxing ◽  
Amir Khajepour ◽  
Tan Senqi
Keyword(s):  
Ride Comfort ◽  
Control Method ◽  
Sliding Mode ◽  
Suspension System ◽  
Lateral Acceleration ◽  
Sliding Mode Controller ◽  
The Road ◽  
Air Suspension ◽  
Simulation Based ◽  
Different Levels

This paper presents a control method based the lateral interconnected air suspension system, in order to improve the road handling of vehicles. A seven-DOF (Degree of freedom) full-vehicle model has been developed, which considers the features of the interconnected air suspension system, for example, the modeling of the interconnected pipelines and valves by considering the throttling and hysteresis effects. On the basis of the well-developed model, a sliding mode controller has been designed, with a focus on constraining and minimizing the roll motion of the sprung mass caused by the road excitations or lateral acceleration of the vehicle. Moreover, reasonable road excitations have been generated for the simulation based on the coherence of right and left parts of the road. Afterwards, different simulations have been done by applying both bumpy and random road excitations with different levels of roughness and varying vehicle lateral accelerations. The simulation results indicate that the interconnected air suspension without control can improve the ride comfort, but worsen the road handling performance in many cases. However, by applying the proposed sliding mode controller, the road handling of the sprung mass can be improved by 20% to 85% compared with the interconnected or non-interconnected mode at a little cost of comfort.

scholarly journals Robust Adaptive Fractional Fast Terminal Sliding Mode Controller for Microgyroscope

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-18
Author(s):  
Juntao Fei ◽  
Zhe Wang ◽  
Xiao Liang
Keyword(s):  
Tracking Control ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Finite Convergence ◽  
Trajectory Tracking Control ◽  
Terminal Sliding Mode ◽  
Fast Terminal Sliding Mode ◽  
Robust Adaptive ◽  
System States ◽  
Terminal Sliding Surface

In this paper, a robust adaptive fractional fast terminal sliding mode controller is introduced into the microgyroscope for accurate trajectory tracking control. A new fast terminal switching manifold is defined to ensure fast finite convergence of the system states, where a fractional-order differentiation term emerges into terminal sliding surface, which additionally generates an extra degree of freedom and leads to better performance. Adaptive algorithm is applied to estimate the damping and stiffness coefficients, angular velocity, and the upper bound of the lumped nonlinearities. Numerical simulations are presented to exhibit the validity of the proposed method, and the comparison with the other two methods illustrates its superiority.

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.

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