TY - GEN
T1 - A Longitudinal Motion Control Method for Unmanned Truck Based on Acceleration Replanning
AU - Dong, Haotian
AU - Xu, Shaohang
AU - Li, Da
AU - Guo, Yuqi
AU - Xi, Junqiang
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/10
Y1 - 2019/10
N2 - For unmanned ground vehicles, the longitudinal motion control based on desired acceleration, provided by the upper planning module, has static errors. And the commonly used Proportion-Integration (PI) controller tracks the desired speed directly, prone to overshoot and oscillation. In order to overcome these problems, a method based on acceleration replanning is proposed in this paper, considering the dynamic, steady-state and real-time requirements. Simplified nonlinear longitudinal dynamics models are established. Then, 4 parts of the controller are designed based on the models: switching logic based on coast-down; acceleration replanning module by means of backstepping and feedback linearization; throttle adaptive controller and brake controller. Errors of velocity and acceleration can converge to zero quickly meanwhile without overshoot and oscillation, theoretically. Finally, the MATLAB/ Simulink TruckSim co-simulation shows that the designed controller performs better than the PI controller, with speed's average error reducing by 52%. Besides, the designed controller controls the pedals more smoothly, for it makes full use of the powertrain.
AB - For unmanned ground vehicles, the longitudinal motion control based on desired acceleration, provided by the upper planning module, has static errors. And the commonly used Proportion-Integration (PI) controller tracks the desired speed directly, prone to overshoot and oscillation. In order to overcome these problems, a method based on acceleration replanning is proposed in this paper, considering the dynamic, steady-state and real-time requirements. Simplified nonlinear longitudinal dynamics models are established. Then, 4 parts of the controller are designed based on the models: switching logic based on coast-down; acceleration replanning module by means of backstepping and feedback linearization; throttle adaptive controller and brake controller. Errors of velocity and acceleration can converge to zero quickly meanwhile without overshoot and oscillation, theoretically. Finally, the MATLAB/ Simulink TruckSim co-simulation shows that the designed controller performs better than the PI controller, with speed's average error reducing by 52%. Besides, the designed controller controls the pedals more smoothly, for it makes full use of the powertrain.
KW - MTALAB/Simulink TruckSim co-simulation
KW - acceleration replanning
KW - adaptive control
KW - longitudinal motion control
KW - unmanned ground vehicle
UR - http://www.scopus.com/inward/record.url?scp=85080963777&partnerID=8YFLogxK
U2 - 10.1109/ICUS48101.2019.8996023
DO - 10.1109/ICUS48101.2019.8996023
M3 - Conference contribution
AN - SCOPUS:85080963777
T3 - Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019
SP - 72
EP - 78
BT - Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE International Conference on Unmanned Systems, ICUS 2019
Y2 - 17 October 2019 through 19 October 2019
ER -