Path tracking control of a tractor-trailer wheeled robot kinematics with a passive steering angle

Zhou, Yusheng; Chung, Kwok Wai

doi:10.1016/j.apm.2022.04.025

Cited by 5 publications

(1 citation statement)

References 24 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Zhou et al proposed a trajectory tracking control method for the tractor-trailer wheeled robot [3]. Song et al studied a guidance and control framework of multiple autonomous surface underwater vehicles (multi-ASUV) based on deep reinforcement learning (DRL) for target tracking [4].…”

Section: Introductionmentioning

confidence: 99%

Optimal control of autonomous vehicle path tracking based on whale optimization algorithm

Han,

Liu,

Peng

2024

J. vibroeng.

View full text Add to dashboard Cite

In order to solve the problem of accurate vehicle path tracking and address the issues of low convergence accuracy and susceptibility to local optima in Whale Optimization Algorithm (WOA), a nonlinear convergence factor is proposed and nonlinear inertia weights are introduced to improve the basic WOA. Firstly, the convergence factor in WOA is changed to a nonlinear convergence factor, and a nonlinear inertia weight is introduced to improve the convergence accuracy, local development ability, and global search ability. Then, this algorithm is combined with a fifth-degree polynomial. The simulation results show that the proposed method can solve the problem of vehicle path tracking effectively. And also, the vehicle can track the given path controlled by the proposed algorithm with higher accuracy and has stronger applicability. The study can help drivers easily identify safe lane-changing trajectories and area.

show abstract

Section: Introductionmentioning

confidence: 99%

Optimal control of autonomous vehicle path tracking based on whale optimization algorithm

Han,

Liu,

Peng

2024

J. vibroeng.

View full text Add to dashboard Cite

show abstract

Extended state observer‐based trajectory tracking control of a wheeled mobile robot with one unpowered trailer

Yang,

Dang,

2024

Asian Journal of Control

View full text Add to dashboard Cite

In this paper, trajectory tracking control is investigated for a wheeled mobile robot with one unpowered trailer using an extended state observer (ESO). The unpowered trailer is added to improve load capacity, which results in a large impact on trajectory tracking as a slow‐varying and large disturbance. A backstepping controller is proposed to generate desired velocities in an outer loop of a double closed‐loop structure. The ESO is employed in an inner loop to estimate the slow‐varying and large disturbance from the unpowered trailer. An integral sliding mode controller is also designed in the inner loop to track the desired velocities from the outer loop. Stability analysis for the ESO, the backstepping controller and the integral sliding mode controller is conducted via Lyapunov methods. Simulation results are provided to show the effectiveness of the trajectory tracking control for a wheeled mobile robot with one unpowered trailer.

show abstract

Dynamics modeling and path following controller of tractor-trailer-wheeled robots considering wheels slip

Babaei Robat,

Arezoo,

Alipour

et al. 2024

ISA Transactions

View full text Add to dashboard Cite

Path tracking control of a tractor-trailer wheeled robot kinematics with a passive steering angle

Cited by 5 publications

References 24 publications

Optimal control of autonomous vehicle path tracking based on whale optimization algorithm

Optimal control of autonomous vehicle path tracking based on whale optimization algorithm

Extended state observer‐based trajectory tracking control of a wheeled mobile robot with one unpowered trailer

Dynamics modeling and path following controller of tractor-trailer-wheeled robots considering wheels slip

Contact Info

Product

Resources

About