Dynamic Control for Unmanned Skid-steering Vehicle with Conditional Integartors

Abstract

Abstract：A dynamic controller is designed for unmanned skid-steering vehicle. The vehicle speed is controlled through engine driving torque to achieve the desired vehicle speed and the steering is controlled through hydraulic braking on each side of the vehicle to achieve the desired yaw rate. Contrary to the common approaches considering non-holonomic constraints, tire slip and saturation of actuators torque influencing the driving and braking are considered ,based on the analysis of vehicle dynamic model and nonlinear tire model. Hence, with conditional integrators, the dynamic controller overcoming Integral saturation is designed to ensure the accurate tracking for desired signals under influence of tire forces and constraint of actuators. In the end, the dynamic tracking algorithms proposed are verified by real vehicle tests.

GPS Path Tracking Control of Military Unmanned Vehicle Based on Preview Variable Universe Fuzzy Sliding Mode Control

“…Therefore, to obtain a more accurate tracking control effect, especially under high-speed and high curvature conditions, it is necessary to consider the vehicle system dynamics characteristics in the path tracking control design. At present, the algorithms based on the dynamic model mainly include PID control [8][9][10], fuzzy control [11,12], sliding mode control [12][13][14][15][16], and model predictive control [17][18][19][20][21][22][23]. All kinds of algorithms have unique advantages and are widely used, especially model predictive control.…”