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Robust Trajectory Tracking Control of an Autonomous Tractor-Trailer Considering Model Parameter Uncertainties and Disturbances
This paper discusses the robust trajectory tracking control of an autonomous tractor-trailer in agricultural applications. Firstly, considering the model parameter uncertainties and various disturbances, the kinematic and dynamic models of the autonomous tractor-trailer system are established. Moreover, the coordinate transformation is adopted to convert the trajectory tracking error into a new unconstrained error state space model. On this basis, the prescribed performance control (PPC) technique is designed to ensure the convergence speed and final tracking control accuracy of the tractor-trailer control system. Then, this paper designs a double closed-loop control structure. The posture control level adopts the model predictive control (MPC) method, and the dynamic level adopts the sliding mode control (SMC) method. At the same time, it is worth mentioning that the nonlinear disturbance observer (NDO) is designed to estimate all kinds of system disturbances and compensate for the tracking control system to improve the system’s robustness. Finally, the proposed control strategy is validated through comparative simulations, demonstrating its effectiveness in achieving robust trajectory tracking of the autonomous tractor-trailer system.
Journal Article
High-speed lateral stability and trajectory tracking performance for a tractor-semitrailer with active trailer steering
An active trailer steering (ATS) controller is investigated to improve the lateral stability and trajectory tracking performance of the tractor-semitrailer. First of all, a linear yaw-roll dynamic model of the tractor-semitrailer with steerable trailer wheels is established, and the model accuracy is verified. Then a linear quadratic regulator (LQR) for actively steering the trailer’s wheels is designed. For the LQR controller, the lateral acceleration and the sideslip angle at the center of gravity (CG) of the trailer are taken as the optimization objectives, and the steering angle of the wheel on the middle axle of the trailer is set as the control input. Finally, the effectiveness of the designed controller is tested based on the co-simulation platform under the single lane-change (SLC) maneuver at the speed of 100 km/h and the double lane-change (DLC) maneuver at the speed of 80 km/h and 88km/h. Research results show that under the high-speed SLC maneuver, the designed LQR controller can significantly improves the lateral stability and trajectory tracking performance of the trailer, and cannot affect apparently the trajectory and dynamic responses of the tractor. Under the high-speed DLC maneuver, the designed controller can still make the tractor-semitrailer reach a new steady state in a short time, and improve the vehicle lateral stability and the trajectory tracking performance of the trailer at the same time.
Journal Article
Intelligent coordinated control of an autonomous tractor-trailer and a combine harvester
•The coordinated control of a tractor-trailer and a combine harvester is addressed.•The inter-vehicle connectivity and collision avoidance are preserved during the operation.•The transient and steady-state responses specifications can be adjusted a priori.•Model uncertainties are effectively compensated by a neural adaptive robust controller.•A semi-global uniform ultimate boundedness of the tracking errors are guaranteed.
This paper addresses the tracking control of an autonomous tractor-trailer robot with a desired distance and orientation angle relative to a combine harvester in the presence of model uncertainties for the autonomous unloading of the harvested cereals in agriculture applications. A coordinate transformation and the prescribed performance technique are employed to develop a second-order Euler-Lagrange formulation of the tracking errors. Then, a neural adaptive proportional-integral-derivative (PID) tracking controller is proposed to guarantee that the tracking errors exponentially converge to an arbitrary small ultimate bound with a pre-specified maximum overshoot and convergence rate. By an effective application of the prescribed performance technique, the controller non-singularity, the collision avoidance and connectivity between two vehicles are preserved continuously. The model uncertainties including unknown vehicle parameters, variable trailer mass and moment of inertia during the crop collection, surface friction, climate and crop conditions and external disturbances are compensated by an effective combination of a multi-layer neural network and an adaptive robust control law. Lyapunov's direct method is employed to prove that the tracking errors are semi-globally uniformly ultimately bounded and converge to a neighborhood of the origin with a prescribed performance. Finally, the computer simulation results are presented to demonstrate the effectiveness of the proposed controller.
Journal Article
Trajectory tracking control for tractor-trailer vehicles: a coordinated control approach
This article presents a coordinated control approach for a tractor-trailer vehicle such that a satisfactory trajectory tracking performance can be achieved, simultaneously guaranteeing vehicle kinematics restriction and dynamics maneuvers. The coordinated control is consisted of multilevel controllers, each of which is constructed by different algorithms to better clarify their specific advantages and defects, thereby establishing the composition principles of this multilevel architecture. In this regard, on the level of kinematics, linear quadratic regulator and model predictive control (MPC) are used to design the posture controller separately; on the level of dynamics, sliding mode control and global terminal sliding mode control (GTSMC) are introduced to design the dynamic controller for the tracking of the desired velocities generated online. The simulation results suggest that the combination by MPC and GTSMC can offer more favorable control performance for such kind of sophisticated vehicle system.
Journal Article
Trajectory planning and robust tracking control for a class of active articulated tractor-trailer vehicle with on-axle structure
Traditional articulated vehicles exhibit poor steering performance since there exist no direct rotating moment for the underactuated trailers, which cause such vehicles nearly cannot work well in the narrow space. To overcome this shortcoming associated with the traditional articulated vehicles, an active articulated structure is proposed, in which a steering motor is introduced at the articulated joint of tractor and trailer, in addition to utilizing mecanum wheels as trailer wheels. On the basis of this structure, a coordinated control method is designed to ensure the vehicle kinematics constraints and dynamic maneuverability. The coordination control consists of two level controllers. On the level of kinematics, model predictive control (MPC) is adopted as posture controller, which can solve the non-holonomic problem of the whole active articulated tractor-trailer vehicle system; On the dynamic level, a sliding mode control (SMC) is introduced to design a dynamic controller to track the desired velocities generated online, which can increase the robustness of the system. The simulation results show that the proposed active articulated tractor-trailer vehicle system has better maneuverability compared with the traditional one, and the proposed control strategy can ensure the required control effect.
Journal Article
Remote Driving of Tractor-Trailer Vehicles Based on Predictive Display
This paper presents a remote driving system for tractor-trailer vehicles based on predictive display. The vehicle’s predicted trajectory is superimposed onto the delayed camera image stream by wire frame and presented to the driver wearing a head-mounted display. Predictive display helps the driver to compensate for delayed response of the vehicle as well as to intuitively grasp the spatial relationship between the vehicle and its surroundings. The effectiveness of the developed remote driving system was evaluated with human subjects through tasks simulating different scenes of transportation. The results showed that both efficiency and safety of driving were improved by predictive display.
Journal Article
String Stable Lateral Control of Tractor-trailer Truck Platoons
Since heavy-duty trucks play an important role in logistics and platooning of those trucks improves the fuel efficiency, the platooning technology for tractor-trailer type vehicles has recently gained significant attention in the transportation sector. This paper introduces a method to guarantee the lateral string stability of a platoon comprising multiple identical articulated vehicles. The proposed controller employs the feedback linearization technique, forming a simple proportional-derivative (PD) controller augmented with a feedforward control term by receiving the preceding vehicle’s steering angle information. This study represents the first attempt to ensure the lateral string stability of tractor-trailer platoons. Simulation results show that the lateral distance deviation does not amplify toward the tail of the platoon when the PD and feedforward control gains are designed such that the magnitude of the error propagation transfer function remains less than unity.
Journal Article
Precise motion control of tractor-trailer wheeled mobile structures via a newly observed key motion law
We present a curvature tracking approach for a tractor-trailer wheeled mobile structure (TTWMS), such that the trailer can track a desired trajectory curve accurately. A key motion law related to the curvature functions of trajectory curves is discovered for the first time, in terms of the tractor and the trailer with nonholonomic constraints. Then, based on this key motion law, the target trajectory curve of the trailer is converted to a dynamical tracking target matching the dynamics equation of the TTWMS, so as to transform the original motion task into a common tracking control problem. Finally, LQR optimal control and integral sliding mode control are introduced to design a robust tracking controller for the TTWMS. Simulation results show that the proposed method can make the TTWMS follow a given target trajectory curve accurately, even if the forward and yaw rotational speed errors are divergent.
Journal Article
Quintic Polynomial-based Obstacle Avoidance Trajectory Planning and Tracking Control Framework for Tractor-trailer System
In this paper, a dynamic automatic obstacle avoidance trajectory planning and tracking control framework is proposed for tractor-trailer system. Tractor-trailer is a special class of multibody and nonholonomic system, whose backward and forward operations have difference kinetic mechanisms. Because the obstacle avoidance behaviors are concerned with the two motion modes, the kinematic models including backward and forward movements are firstly derived. Secondly, a time-based quintic polynomial function is developed to plan two kinds of dynamic obstacle avoidance trajectories based on dynamics constraints and the information from on board sensors, so as to minimize the collision risk. Thirdly, a model predictive control (MPC)-based posture controller is designed, by which better tracking performance can be achieved for both forward and backward obstacle avoidance maneuvers. Lastly, the simulation results validate the effectiveness of the proposed dynamic obstacle avoidance framework and the designed methods.
Journal Article