Design of Trajectory Tracking Controller of Unmanned Tracked Vehicles Based on Torque Control

Junfeng Tao, Haiou Liu, Yan Li, Haijie Guan, Jia Liu, Huiyan Chen

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

8 Citations (Scopus)

Abstract

Trajectory tracking is a critical part for a tracked unmanned ground vehicle (UGV) that works in the off-road environment. In order to improve the controller adaptability and accuracy, our study proposes a combination of the Extended Kalman Filter (EKF) and Model Predictive Control (MPC). Aiming at the tracked UGV, the MPC adopts a vehicle dynamics model with kinematics relationship to generate the expected motor torque. Compared with kinematics-based motor speed controller, our MPC-based system responses faster and more accurately. Then, the EKF is utilized to estimate the road resistance coefficients in real time, strengthening the MPC adaptability to the uncertain road conditions. The proposed system is verified by a real electric tracked UGV with off-road conditions. The experimental results show that the EKF-MPC-based motor torque controller can adapt to the unstructured environment well and achieve a better tracking performance than the MPC-based motor speed controller. Significantly, the lateral tracking accuracy is improved by 24% when steering.

Original languageEnglish
Title of host publicationProceedings of 2021 IEEE International Conference on Unmanned Systems, ICUS 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages85-92
Number of pages8
ISBN (Electronic)9780738146577
DOIs
Publication statusPublished - 2021
Event2021 IEEE International Conference on Unmanned Systems, ICUS 2021 - Beijing, China
Duration: 15 Oct 202117 Oct 2021

Publication series

NameProceedings of 2021 IEEE International Conference on Unmanned Systems, ICUS 2021

Conference

Conference2021 IEEE International Conference on Unmanned Systems, ICUS 2021
Country/TerritoryChina
CityBeijing
Period15/10/2117/10/21

Keywords

  • model predictive control
  • parameter estimation
  • tracked vehicle
  • trajectory tracking
  • unmanned driving

Fingerprint

Dive into the research topics of 'Design of Trajectory Tracking Controller of Unmanned Tracked Vehicles Based on Torque Control'. Together they form a unique fingerprint.

Cite this