Adaptive Coordinated Path Tracking Control Strategy for Autonomous Vehicles with Direct Yaw Moment Control

It is a striking fact that the path tracking accuracy of autonomous vehicles based on active front wheel steering is poor under high-speed and large-curvature conditions. In this study, an adaptive path tracking control strategy that coordinates active front wheel steering and direct yaw moment is proposed based on model predictive control algorithm. The recursive least square method with a forgetting factor is used to identify the rear tire cornering stiffness and update the path tracking system prediction model. To adaptively adjust the priorities of path tracking accuracy and vehicle stability, an adaptive strategy based on fuzzy rules is applied to change the weight coefficients in the cost function. An adaptive control strategy for coordinating active front steering and direct yaw moment is proposed to improve the path tracking accuracy under high-speed and large-curvature conditions. To ensure vehicle stability, the sideslip angle, yaw rate and zero moment methods are used to construct optimization constraints based on the model predictive control frame. It is verified through simulation experiments that the proposed adaptive coordinated control strategy can improve the path tracking accuracy and ensure vehicle stability under high-speed and large-curvature conditions.

Efficient Path Tracking Control for Autonomous Driving of Tracked Emergency Rescue Robot under 6G Network

This paper proposes a path tracking control algorithm of tracked mobile robots based on Preview Linear Model Predictive Control (MPC), which is used to achieve autonomous driving in the unstructured environment under an emergency rescue scenario. It is the future trend to realize the communication and control of rescue equipment with 6G and edge cloud cooperation. In this framework, linear MPC (LMPC) is suitable for the path tracking control of rescue robots due to its advantages of less computing resources and good real-time performance. However, in such a scene, the driving environment is complex and the path curvature changes greatly. Since LMPC can only introduce linearized feedforward information, the tracking accuracy of the path with large curvature changes is low. To overcome this issue, combined with the idea of preview control, preview-linear MPC is designed in this paper. The controller is verified by MATLAB/Simulink simulation and prototype experiment. The results show that the proposed method can improve the tracking accuracy while ensuring real-time performance and has better tracking performance for the path with large curvature variation.

Algorithmic and Computer Software for Determination of Thread Tension After Guide Large Curvacity

The conducted studies of the effect of the structure of the threads on the amount of tension when interacting with guides and working bodies of weaving machines and knitting machines, which have a large curvature in the zone of contact with the thread, established a mechanism for the process of increasing the tension of the thread after the guide by changing the radius of curvature of the guide and friction forces in the zone contact. It is proved that the increase in tension is explained by a change in the angle of coverage of the thread of a guide of large curvature, and for complex threads and yarns, the real angle of coverage will be greater than the calculated one, due to deformation of the thread diameter in the contact zone, and for monofilaments it is less than the calculated one due to bending stiffness. The sequential passage of the thread along the guides, from the entry zone to the formation zone of fabric and knitwear, leads to a stepwise increase in tension. In this case, the output parameter of the tension after the previous guide will be the input parameter for the subsequent guide, which makes it possible to use recursion when determining the tension in front of the formation zone. In this regard, research on the computer implementation of the algorithm for determining the thread tension on technological equipment using recursion should be considered relevant.