scholarly journals Trajectory Tracking Control Algorithm for Autonomous Vehicle Considering Cornering Characteristics

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 59470-59484 ◽  
Author(s):  
Jingwei Cao ◽  
Chuanxue Song ◽  
Silun Peng ◽  
Shixin Song ◽  
Xu Zhang ◽  
...  
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Control Algorithm ◽  
Autonomous Vehicle ◽  
Trajectory Tracking Control

Implementing Trajectory Tracking Control Algorithm for Autonomous Vehicles

2021 ◽  
Author(s):  
Xuting Duan ◽  
Qi Wang ◽  
Daxin Tian ◽  
Jianshan Zhou ◽  
Jian Wang ◽  
...  
Keyword(s):  
Trajectory Tracking ◽  
Autonomous Vehicles ◽  
Tracking Control ◽  
Control Algorithm ◽  
Trajectory Tracking Control

A Trajectory Tracking Control Algorithm of Nonholonomic Wheeled Mobile Robot

2021 ◽  
Author(s):  
Rui Deng ◽  
Qingfang Zhang ◽  
Rui Gao ◽  
Mingkang Li ◽  
Peng Liang ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Control Algorithm ◽  
Wheeled Mobile Robot ◽  
Trajectory Tracking Control

Trajectory Tracking Control of Autonomous Vehicle With Random Network Delay

2020 ◽  
Vol 69 (8) ◽  
pp. 8140-8150
Author(s):  
Zhongkai Luan ◽  
Jinning Zhang ◽  
Wanzhong Zhao ◽  
Chunyan Wang
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Random Network ◽  
Autonomous Vehicle ◽  
Network Delay ◽  
Trajectory Tracking Control

scholarly journals Ship Trajectory Tracking Control System Design Based on Sliding Mode Control Algorithm

2018 ◽  
Vol 25 (3) ◽  
pp. 26-34 ◽  
Author(s):  
Yong Liu ◽  
Renxiang Bu ◽  
Xiaori Gao
Keyword(s):  
Sliding Mode Control ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Control Algorithm ◽  
Sliding Mode ◽  
Guidance System ◽  
Motion Path ◽  
Sliding Mode Controller ◽  
Trajectory Tracking Control ◽  
Mode Control

Abstract The paper reports the design and tests of the planar autopilot navigation system in the three-degree-of-freedom (3-DOF) plane (surge, sway and yaw) for a ship. The aim of the tests was to check the improved maneuverability of the ship in open waters using the improved nonlinear control algorithm, developed based on the sliding mode control theory for the ship-trajectory tracking problem of under-actuated ships with static constraints, actuator saturation, and parametric uncertainties. With the integration of the simple increment feedback control law, the dynamic control strategy was developed to fulfill the under-actuated tracking and stabilization objectives. In addition, the LOS (line of sight) guidance system was applied to control the motion path, whereas the sliding mode controller was used to emulate the rudder angle and propeller rotational speed control. Firstly, simulation tests were performed to verify the validity of the basic model and the tracking control algorithm. Subsequently, full scale maneuverability tests were done with a novel container ship, equipped with trajectory tracking control and sliding mode controller algorithm, to check the dynamic stability performance of the ship. The results of the theoretical and numerical simulation on a training ship verify the invariability and excellent robustness of the proposed controller, which: effectively eliminates system chattering, solves the problem of lateral drift of the ship, and maintains the following of the trajectory while simultaneously achieving global stability and robustness.

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