Research On Path-Tracking Control Of Articulated Vehicle With A Trailer Based On Advanced Model Prediction Control Strategy

2021 ◽  
Author(s):  
Leilei Liu ◽  
Baohua Wang ◽  
Yuping He
Keyword(s):  
Model Prediction ◽  
Control Strategy ◽  
Tracking Control ◽  
Path Tracking ◽  
Model Prediction Control ◽  
Articulated Vehicle ◽  
Prediction Control ◽  
Advanced Model

An adaptive-prediction-horizon model prediction control for path tracking in a four-wheel independent control electric vehicle

2019 ◽  
Vol 233 (12) ◽  
pp. 3246-3262 ◽  
Author(s):  
Bing Zhang ◽  
Changfu Zong ◽  
Guoying Chen ◽  
Guiyuan Li
Keyword(s):  
Electric Vehicle ◽  
Model Prediction ◽  
Hierarchical Control ◽  
Path Tracking ◽  
Vehicle Dynamic ◽  
Independent Control ◽  
Prediction Horizon ◽  
Adaptive Prediction ◽  
Model Prediction Control ◽  
Prediction Control

An adaptive-prediction-horizon model prediction control-based path tracking controller for a four-wheel independent control electric vehicle is designed. Unlike traditional model prediction control with fixed prediction horizon, this paper devotes to satisfy the varied path tracking demand by adjusting online the prediction horizon of model prediction control according to its effect on vehicle dynamic characteristics. Vehicle dynamic stability quantized with the vehicle sideslip-feature phase plane is preferentially considered in the prediction horizon adjustment. For stability during switching prediction horizon and for robustness during path tracking, the numerical problem inherent in the adaptive-prediction-horizon model prediction control is analysed and solved by introducing exponentially decreasing weight. Subsequently, the desired motion for path tracking with the four-wheel independent control electric vehicle is realized with a hierarchical control structure. Simulation results finally illustrate the effectiveness of the proposed method.

scholarly journals A HEURISTIC CASCADING FUZZY LOGIC APPROACH TO REACTIVE NAVIGATION FOR UAV

2014 ◽  
Vol 15 (2) ◽  
Author(s):  
Yew-Chung Chak ◽  
Renuganth Varatharajoo
Keyword(s):  
Fuzzy Logic ◽  
Obstacle Avoidance ◽  
Control Strategy ◽  
Tracking Control ◽  
Path Tracking ◽  
Reactive Navigation ◽  
Logic Control ◽  
Fuzzy Logic Approach ◽  
Avoidance Control ◽  
Logic Approach

ABSTRACT: The capability of navigating Unmanned Aerial Vehicles (UAVs) safely in unknown terrain offers huge potential for wider applications in non-segregated airspace. Flying in non-segregated airspace present a risk of collision with static obstacles (e.g., towers, power lines) and moving obstacles (e.g., aircraft, balloons). In this work, we propose a heuristic cascading fuzzy logic control strategy to solve for the Conflict Detection and Resolution (CD&R) problem, in which the control strategy is comprised of two cascading modules. The first one is Obstacle Avoidance control and the latter is Path Tracking control. Simulation results show that the proposed architecture effectively resolves the conflicts and achieve rapid movement towards the target waypoint.ABSTRAK: Keupayaan mengemudi Kenderaan Udara Tanpa Pemandu (UAV) dengan selamat di kawasan yang tidak diketahui menawarkan potensi yang besar untuk aplikasi yang lebih luas dalam ruang udara yang tidak terasing. Terbang di ruang udara yang tidak terasing menimbulkan risiko perlanggaran dengan halangan statik (contohnya, menara, talian kuasa) dan halangan bergerak (contohnya, pesawat udara, belon). Dalam kajian ini, kami mencadangkan satu strategi heuristik kawalan logik kabur yang melata untuk menyelesaikan masalah Pengesanan Konflik dan Penyelesaian (CD&R), di mana strategi kawalan yang terdiri daripada dua modul melata. Hasil simulasi menunjukkan bahawa seni bina yang dicadangkan berjaya menyelesaikan konflik dan mencapai penerbangan pesat ke arah titik laluan sasaran.KEYWORDS: fuzzy logic; motion planning; obstacle avoidance; path tracking; reactive navigation; UAV

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