Linear-quadratic Robust Path Tracking for a Dubins Vehicle

2018 ◽  
Author(s):  
Bhargav Jha ◽  
Vladimir Turetsky ◽  
Tal Shima
Keyword(s):  
Path Tracking ◽  
Linear Quadratic ◽  
Dubins Vehicle

scholarly journals Pre-Work for the Birth of Driver-Less Scraper (LHD) in the Underground Mine: The Path Tracking Control Based on an LQR Controller and Algorithms Comparison

Sensors ◽  
2021 ◽  
Vol 21 (23) ◽  
pp. 7839
Author(s):  
Haoxuan Yu ◽  
Chenxi Zhao ◽  
Shuai Li ◽  
Zijian Wang ◽  
Yulin Zhang
Keyword(s):  
Tracking Control ◽  
Control Method ◽  
Clustering Algorithms ◽  
Development Trend ◽  
Path Tracking ◽  
Linear Quadratic ◽  
Trajectory Tracking Control ◽  
Linear Quadratic Optimal Control ◽  
The Future ◽  
Lqr Controller

With the depletion of surface resources, mining will develop toward the deep surface in the future, the objective conditions such as the mining environment will be more complex and dangerous than now, and the requirements for personnel and equipment will be higher and higher. The efficient mining of deep space is inseparable from movable and flexible production and transportation equipment such as scrapers. In the new era, intelligence is leading to the development trend of scraper (LHD), path tracking control is the key to the intelligent scraper (LHD), and it is also an urgent problem to be solved for unmanned driving. This paper describes the realization of the automatic operation of articulating the scraper (LHD) from two aspects, a mathematical model and trajectory tracking control method, and it focuses on the research of the path tracking control scheme in the field of unmanned driving, that is, an LQR controller. On this basis, combined with different intelligent clustering algorithms, the parameters of the LQR controller are optimized to find the optimal solution of the LQR controller. Then, the path tracking control of an intelligent LHD unmanned driving technology is studied, focusing on the optimization of linear quadratic optimal control (LQR) and the intelligent cluster algorithms AGA, QPSO, and ACA; this research has great significance for the development of the intelligent scraper (LHD). As mining engineers, we not only need to conduct research for practical engineering projects but also need to produce theoretical designs for advanced mining technology; therefore, the area of intelligent mining is the one we need to explore at present and in the future. Finally, this paper serves as a guide to starting a conversation, and it has implications for the development and the future of underground transportation.

Path tracking control of 4-wheel-steering autonomous ground vehicles based on linear parameter-varying system with experimental verification

2020 ◽  
pp. 095965182093457
Author(s):  
Peng Hang ◽  
Xinbo Chen
Keyword(s):  
Tracking Control ◽  
Linear Quadratic Regulator ◽  
Path Tracking ◽  
Linear Parameter ◽  
Linear Quadratic ◽  
Linear Parameter Varying ◽  
Ground Vehicle ◽  
Tracking Controller ◽  
Road Friction ◽  
Linear Parameter Varying System

In this study, a novel 4-wheel-steering electric vehicle is proposed as an autonomous ground vehicle. It aims to study the path tracking control algorithm of the 4-wheel-steering autonomous ground vehicle for intelligent driving.. Path tracking model is built for path tracking controller design based on a single track model. Besides, the linear parameter-varying system model is constructed to make the path tracking controller adaptive to different longitudinal velocities and road friction coefficients. Furthermore, a linear quadratic regulator controller for path tracking is designed and stability analysis is carried out. To eliminate the error caused by disturbance, feedforward control is combined with a linear quadratic regulator controller. To verify the path tracking performance of the designed controller, numerical simulations are carried out based on a high-fidelity and full-vehicle model constructed in CarSim. Moreover, real road experiments are performed. Both the simulation results and experiment results show that the designed controller has good path tracking performance. In addition, the path tracking controller shows good robustness to deal with different longitudinal velocities and road friction coefficients.

scholarly journals Active steering control based on preview theory for articulated heavy vehicles

PLoS ONE ◽  
2021 ◽  
Vol 16 (5) ◽  
pp. e0252098
Author(s):  
Jie Tian ◽  
Qingkang Zeng ◽  
Peng Wang ◽  
Xiaoqing Wang
Keyword(s):  
High Speed ◽  
Single Point ◽  
Path Tracking ◽  
Lateral Stability ◽  
Steering Control ◽  
Linear Quadratic ◽  
Low Speed ◽  
Active Steering ◽  
Simulation Results ◽  
Active Steering Control

This paper investigates the active steering control of the tractor and the trailer for the articulated heavy vehicle (AHV) to improve its high-speed lateral stability and low-speed path following. The four-degree-of-freedom (4-DOF) single track dynamic model of the AHV with a front-wheel steered trailer is established. Considering that the road information at the driver’s focus is the most clear and those away from the focus blurred, a new kind controller based on the fractional calculus, i.e., a focus preview controller is designed to provide the steering input for the tractor to make it travel along the desired path. In addition, the active steering controllers based on the linear quadratic regulator (LQR) and single-point preview controller respectively are also proposed for the trailer. However, the latter is designed on the basis of the articulation angle between the tractor and trailer, inspired by the idea of the driver’s single-point preview controller. Finally, the single lane change maneuver and 90o turn maneuver are carried out. And the simulation results show that compared with the single-point preview controller, the new kind preview controller for the tractor can have good high speed maneuvering stability and low speed path tracking ability by adjusting the fractional order of the controller. On this basis, three different AHVs with the same tractor are simulated and the simulation results show that the AHV whose trailer adopts the single-point preview controller has better high-speed lateral stability and low-speed path tracking than the AHV whose trailer adopts the LQR controller.

Research on automatic parking system based on linear quadratic regulator

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Yan Qian ◽  
Zhaoqiang Wang ◽  
Wei Liang ◽  
Chenhui Lu
Keyword(s):  
Feedback Control ◽  
Simulation Analysis ◽  
Feedforward Control ◽  
Linear Quadratic Regulator ◽  
Path Tracking ◽  
Linear Quadratic ◽  
Content Type ◽  
Tracking Controller ◽  
Automatic Parking ◽  
Continuous Curvature

PurposeThe purpose of this study is to solve the problem of path planning and path tracking in the automatic parking assistant system.Design/methodology/approachThis paper first uses the method of reverse driving to confirm few control points based on the constraints of the construction of the vehicle and the environment information, then a reference path with free-collision and continuous curvature is designed based on the Bézier curve. According to the principle of the discrete linear quadratic regulator (LQR), a tracking controller that combines feedforward control and feedback control is designed.FindingsFinally, simulation analysis are carried out in Simulink and CARSIM. The results show that the proposed method can obtain a better path tracking effect when the parking space size is appropriate.Originality/valueAccording to the principle of the discrete LQR, a tracking controller that combines feedforward control and feedback control is designed.

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