|
|||||
|
|
Single-point preview control for unmanned high-speed4WID-4WIS vehicle path tracking |
|
| Authors: | RUAN Jiu hong LI Yi bin YANG Fu guang and RONG Xue wen |
| Institution: | Advanced Vehicle & Robot Institute of Shandong Jiaotong University, Jinan 250023, Shandong,P.R. China;Center for Robotics of Shandong University, Jinan 250061, Shandong, P.R.China;Center for Robotics of Shandong University, Jinan 250062, Shandong, P.R.China;Advanced Vehicle & Robot Institute of Shandong Jiaotong University, Jinan 250023, Shandong,P.R. China;Center for Robotics of Shandong University, Jinan 250064, Shandong, P.R.China |
| Abstract: | As for the actuation redundancy, strong nonlinearity and uncertainty, a kind of single-point preview control approach for the unmanned high-speed four-wheel-independent-drive & steering (4WID-4WIS) vehicle path tracking is proposed based on the control allocation and the Active Disturbance Rejection Control(ADRC) methods. The vehicle single-point preview system dynamic model for path tracking is built. The control system architecture with the control allocation unit as the core is constructed. The decouple single-point preview ADRC controller for path tracking is designed. Then the quasi-inertial parts used to generate control objectives are proposed and its rationality is discussed. The control allocation solution method for the 4WID-4WIS vehicle path tracking is subsequently presented. The simulations are conducted to illustrate the validity of the single-point preview control method proposed. The results show that the unmanned high-speed 4WID-4WIS vehicle can track the circular arc double-lane change path rapidly and accurately. |
| Keywords: | unmanned vehicle Independent-Drive & Steering vehicle path tracking single-point preview control allocation active disturbance rejection control |
| 点击此处可从《保鲜与加工》浏览原始摘要信息 | |
| 点击此处可从《保鲜与加工》下载免费的PDF全文 | |