Improving Tracking of Trajectories through Tracking Rate Regulation: Application to UAVs

Díaz-del-Río, Fernando; Sanchez-Cuevas, Pablo; Iñigo-Blasco, Pablo; Sevillano, José Luis

doi:10.3390/s22249795

Cited by 4 publications

(2 citation statements)

References 27 publications

(51 reference statements)

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“…MPC can handle constraint problems in real time and has low requirements for the accuracy of the control model. It is suitable for both linear and nonlinear systems, but tracking accuracy is difficult to guarantee at high speeds [13,14]. Therefore, it has unique advantages for agricultural machinery path tracking with relatively low operation speed, complex ground conditions, and difficulty in establishing accurate models.…”

Section: Introductionmentioning

confidence: 99%

Model and Parameter Adaptive MPC Path Tracking Control Study of Rear-Wheel-Steering Agricultural Machinery

Wang,

Niu,

Wang

et al. 2024

Agriculture

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To further enhance the precision and the adaptability of path tracking control, and considering that most of the research is focused on front-wheel steering, an adaptive parametric model predictive control (MPC) was proposed for rear-wheel-steering agricultural machinery. Firstly, the kinematic and dynamic models of rear-wheel-steering agricultural machinery were established. Secondly, the influence laws of curvature and velocity on the prediction horizon Np, control horizon Nc, and preview value Npre were obtained by simulating and analyzing the factors influencing the MPC tracking effect. The results revealed that raising Npre can improve curve tracking performance. Np was correlated negatively with the curvature change, whereas Nc and Npre were positively connected. Np, Nc, and Npre were correlated positively with the velocity change. Then, the parameters for self-adaptation of Np, Nc, and Npre were accomplished via fuzzy control (FC), and particle swarm optimization (PSO) was utilized to optimize the three parameters to determine the optimal parameter combination. Finally, simulation and comparative analysis were conducted to assess the tracking effects of the manual tuning MPC, the FC_MPC, and the PSO_MPC under U-shaped and complex curve paths. The results indicated that there was no significant difference and all three methods achieved better tracking effects under no disturbance, with the mean absolute value of lateral error ≤0.18 cm, standard deviation ≤0.37 cm, maximum deviation of U-shaped path <2.38 cm, and maximum deviation of complex curve path <3.15 cm. The mean absolute value of heading error was ≤0.0096 rad, the standard deviation was ≤0.0091 rad, and the maximum deviation was <0.0325 rad, indicating that manual tuning can find optimal parameters, but with high uncertainty and low efficiency. However, FC_MPC and PSO_MPC have better adaptability and tracking performance compared to the manual tuning MPC with fixed horizons under variable-speed disturbance and are more able to meet the actual needs of agricultural machinery operations.

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Section: Introductionmentioning

confidence: 99%

Model and Parameter Adaptive MPC Path Tracking Control Study of Rear-Wheel-Steering Agricultural Machinery

Wang,

Niu,

Wang

et al. 2024

Agriculture

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“…However, because of the simultaneous following of LOS vectors in two coordinate systems and the consideration of velocity allocation strategies, significant computational resources and time were required. Heading control strategies for robots are an essential component of robot path following [34,35]. At present, control strategies based on the LOS method have been extensively researched and applied.…”

Section: Introductionmentioning

confidence: 99%

Three-Dimensional Path-Following Control Method for Flying–Walking Power Line Inspection Robot Based on Improved Line of Sight

Feng,

Lei,

Zeng

et al. 2023

Aerospace

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The Flying–Walking Power Line Inspection Robot (FPLIR) faces challenges in maintaining stability and reliability when operating in harsh transmission line environments with complex conditions. The robot often switches modes frequently to land accurately on the line, resulting in increasing following errors and premature or delayed switching caused by reference path switching. To address these issues, a path-following control method based on improved line of sight (LOS) is proposed. The method features an adaptive acceptance circle strategy that adjusts the radius of the acceptance circle of the path point based on the angle of the path segment and the flight speed at the time of switching, improving path-following accuracy during reference trajectory switching. Also, an adaptive heading control with vertical distance feedback is designed to prioritize different path-following methods in real time based on variations in vertical distance, achieving rapid convergence along the following path. The state feedback following control law, based on the improved LOS, achieves the stable following of the reference path, which was validated by simulations. The simulation results show that the improved LOS reduces the convergence time by 0.8 s under controllable error conditions for path angles of θ ∈ (0, π⁄2). For path angles of θ ∈ (π⁄2, π), the following error is reduced by 0.3 m, and the convergence time is reduced by 0.4 s. These results validate the feasibility and effectiveness of the proposed method. This method demonstrates advantages over the traditional LOS in terms of following accuracy and convergence speed, providing theoretical references for future 3D path following for path-following robots and aerial vehicles.

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Simplified design theory of variable curvature friction pendulum bearing with adaptive capability and its application in railway bridge

Wei,

Yang,

Xiao

et al. 2024

Structures

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Improving Tracking of Trajectories through Tracking Rate Regulation: Application to UAVs

Cited by 4 publications

References 27 publications

Model and Parameter Adaptive MPC Path Tracking Control Study of Rear-Wheel-Steering Agricultural Machinery

Model and Parameter Adaptive MPC Path Tracking Control Study of Rear-Wheel-Steering Agricultural Machinery

Three-Dimensional Path-Following Control Method for Flying–Walking Power Line Inspection Robot Based on Improved Line of Sight

Simplified design theory of variable curvature friction pendulum bearing with adaptive capability and its application in railway bridge

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