Design of the double-jointed multi-tracked vehicle steering control law providing its motion along a reference trajectory

Evseev, Kirill; Косицын, Б.Б.; Котиев, Г. О.; Stadukhin, A.A.; Smirnov, Igor; Godzhaev, Z. A.

doi:10.1088/1742-6596/2032/1/012064

Cited by 2 publications

(1 citation statement)

References 10 publications

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“…In addition, research on the motion control of tracked vehicles can be categorized into four main types: classical PID control, intelligent algorithm control, modern control, and observer-based control [24][25][26][27]. Xiong et al applied a model-based PID three-degreesof-freedom method with backstepping control and demonstrated its stability through Lyapunov theory [28].…”

Section: Introductionmentioning

confidence: 99%

Decoupled Adaptive Motion Control for Unmanned Tracked Vehicles in the Leader-Following Task

Fan,

Yan,

et al. 2024

WEVJ

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As a specific task for unmanned tracked vehicles, leader-following imposes high-precision requirements on the vehicle’s motion control, especially the steering control. However, due to characteristics such as the frequent changes in off-road terrain and steering resistance coefficients, controlling tracked vehicles poses significant challenges, making it difficult to achieve stable and precise leader-following. This paper decouples the leader-following control into speed and curvature control to address such issues. It utilizes model reference adaptive control to establish reference models for the speed and curvature subsystems and designs corresponding parameter adaptive control laws. This control method enables the actual vehicle speed and curvature to effectively track the response of the reference model, thereby addressing the impact of frequent changes in the steering resistance coefficient. Furthermore, this paper demonstrates significant improvements in leader-following performance through a series of simulations and experiments. Compared with the traditional PID control method, the results shows that the maximum following distance has been reduced by at least approximately 12% (ensuring the ability to keep up with the leader), the braking distance has effectively decreased by 22% (ensuring a safe distance in an emergency braking scenario and improving energy recovery), the curvature tracking accuracy has improved by at least 11% (improving steering performance), and the speed tracking accuracy has increased by at least 3.5% (improving following performance).

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Section: Introductionmentioning

confidence: 99%

Decoupled Adaptive Motion Control for Unmanned Tracked Vehicles in the Leader-Following Task

Fan,

Yan,

et al. 2024

WEVJ

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Curvilinear motion control laws for a semi-trailer caterpillar train for off-road cargo transportation

Evseev

2023

Tractors and Agricultural Machinery

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BACKGROUND: For transport accessibility in areas with an undeveloped road network, the use of tracked trains that provide low ground pressure is a rational solution. To ensure the mobility of a semi-trailed, unmanned caterpillar train, which can be controlled remotely by a driver-operator or by an automatic unmanned driving system, traffic control laws are needed. AIMS: Ensuring energy efficiency in curve control of a unmanned semi-trailer tracked train for off-road freight transport. METHODS: The methods of simulation mathematical modelling and analytical methods based on the consideration of the quasi-stationary motion of the caterpillar train links are used to derive energy-efficient control laws and determine the mobility performance that can be achieved. RESULTS: Control laws are obtained for two variants of tracked trains: a tracked train with independent drive control of driving wheels and a tracked train with a differential drive scheme of a semi-trailer link. The control laws are designed to improve the energy efficiency of travel which is achieved by rational distribution of traction forces on the driving wheels of the tracked train and use of the regulator which ensures adjustment of the traction on the semi-trailer driving wheels accord-ing to the sign and magnitude of force in the fifth-wheel coupling of the tractor. A block diagram of a governing system of a caterpillar train and a mathematical description of its basic structural components (blocks) are given. Using the developed control laws the theoretical research of curvilinear movement by simulation mathematical modelling is carried out; the comparative analysis of the considered control laws of the semitrailer caterpillar train movement with two transmission variants is given. CONCLUSIONS: The application of the developed caterpillar train motion control laws will enable the vehicle to move unmanned or follow the lead vehicle along a set path with high accuracy of turning manoeuvres and, consequently, will improve the safety of freight transportation.

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Design of the double-jointed multi-tracked vehicle steering control law providing its motion along a reference trajectory

Cited by 2 publications

References 10 publications

Decoupled Adaptive Motion Control for Unmanned Tracked Vehicles in the Leader-Following Task

Decoupled Adaptive Motion Control for Unmanned Tracked Vehicles in the Leader-Following Task

Curvilinear motion control laws for a semi-trailer caterpillar train for off-road cargo transportation

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