TY - GEN
T1 - An efficient trajectory tracking control for tractor-trailer vehicle system
AU - Yue, Ming
AU - Hou, Xiaoqiang
AU - Yang, Lu
N1 - Publisher Copyright:
© 2017 Technical Committee on Control Theory, CAA.
PY - 2017/9/7
Y1 - 2017/9/7
N2 - This article mainly presents a control method for an underactuated tractor-trailer vehicle, subject to the nonholonomic constraint, uncertain disturbance and various physical limits, which is aimed at receiving a good tracking performance. All in all, linear quadratic regulator (LQR) and model predictive control (MPC) are used to design the posture controller to make the midpoint of two parallel plating wheels for the underactuated trailer follow an arbitrary reference trajectory given by earth-fixed frame, and sliding mode control (SMC) is introduced to design the dynamic controller for the tracking of the desired velocities produced by the posture controller. The simulation results validate the control strategy consisting of the MPC-based kinematic controller and the SMC-based dynamic controller is rather effective and efficient for the underactuated tractor-trailer vehicle, thereby demonstrating the effectiveness and feasibility of the proposed controllers.
AB - This article mainly presents a control method for an underactuated tractor-trailer vehicle, subject to the nonholonomic constraint, uncertain disturbance and various physical limits, which is aimed at receiving a good tracking performance. All in all, linear quadratic regulator (LQR) and model predictive control (MPC) are used to design the posture controller to make the midpoint of two parallel plating wheels for the underactuated trailer follow an arbitrary reference trajectory given by earth-fixed frame, and sliding mode control (SMC) is introduced to design the dynamic controller for the tracking of the desired velocities produced by the posture controller. The simulation results validate the control strategy consisting of the MPC-based kinematic controller and the SMC-based dynamic controller is rather effective and efficient for the underactuated tractor-trailer vehicle, thereby demonstrating the effectiveness and feasibility of the proposed controllers.
KW - Linear quadratic regulator
KW - Model predictive control
KW - Sliding mode control
KW - Tractor-trailer vehicle
KW - Trajectory tracking
UR - http://www.scopus.com/inward/record.url?scp=85032175221&partnerID=8YFLogxK
U2 - 10.23919/ChiCC.2017.8027399
DO - 10.23919/ChiCC.2017.8027399
M3 - Conference contribution
AN - SCOPUS:85032175221
T3 - Chinese Control Conference, CCC
SP - 546
EP - 551
BT - Proceedings of the 36th Chinese Control Conference, CCC 2017
A2 - Liu, Tao
A2 - Zhao, Qianchuan
PB - IEEE Computer Society
T2 - 36th Chinese Control Conference, CCC 2017
Y2 - 26 July 2017 through 28 July 2017
ER -