Control Method Designs and Comparisons for Tractor-Trailer Vehicle Backward Path Tracking
| Autor: | Lisa Fiorentini, Yasser Bin Salamah, Umit Ozguner, Mohammad Hejase, John M. Maroli, Junbo Jing |
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| Rok vydání: | 2019 |
| Předmět: |
050210 logistics & transportation
0209 industrial biotechnology Computer science Underactuation 05 social sciences 02 engineering and technology Nonlinear control Tracking (particle physics) Nonlinear system 020901 industrial engineering & automation Margin (machine learning) Control theory 0502 economics and business Path (graph theory) Governor Articulated vehicle |
| Zdroj: | ACC |
| Popis: | Tractor-trailer path tracking in backward motion is a challenging nonlinear control problem in automated vehicle development. The control challenges arise from the fact that a backward driving articulated vehicle is an underactuated system with unstable internal dynamics and coupled nonlinear terms. Additionally, there exists a relative body angle margin for saturated steering input beyond which a jackknife accident is unavoidable if backing further. In this work, three different controllers were designed for tractor-trailer reverse motion: a proportional integral controller, a sliding mode controller, and a neural network controller. A generic control safety governor was developed to supervise the tracking control algorithms, which overrides control when necessary to ensure jackknife-free operation. The controllers' path tracking performance was tested on an increasingly rigorous path with introduced discontinuities, and a comparative study of the three controllers was conducted. The performance differences and characteristics of each control algorithm are analyzed for the studied scenario. |
| Databáze: | OpenAIRE |
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