Path Tracking Controllers for Fast Skidding Rover

Krid, Mohamed; Zamzami, Ziad; Benamar, Faiz

doi:10.1007/978-3-319-31898-1_2

Cited by 3 publications

(2 citation statements)

References 11 publications

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“…Similarly, variable structure control such as SMC has been integrated into the LQR controller [19]. The performance of LQR has been analysed for different speeds of the AGV in comparison with Nonlinear Model Predictive Control (NMPC) and it was shown that NMPC performs significantly better at high speeds [93]. Moreover, in cases where a small parameter changes, causing fast unstable conditions, the stability of the system becomes highly dependent on the proper choice of the weighting matrices.…”

Section: Control Strategiesmentioning

confidence: 99%

Review and performance evaluation of path tracking controllers of autonomous vehicles

Rokonuzzaman

Mohajer

Nahavandi

et al. 2021

IET Intelligent Trans Sys

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Autonomous Vehicles (AVs) have shown indelible and revolutionary effects on accident reduction and more efficient use of travel time, with outstanding socio‐economic impact. Despite these benefits, to make AVs accepted by a wide demographic and produce them on an industrial scale with a reasonable price, there are still a number of technological and social challenges that need to be tackled. Path Tracking Controller (PTC) of AVs is one of the high potential subsystems that can be further improved in order to achieve more accurate, robust and comfortable tracking performance. This study provides a critical review and simulation study of several selected techniques used for the design of PTC of AVs. The AVs are assumed to have limited controllability due to non‐holonomic constraints, such as car‐like vehicles and differential drive mobile robots. A detailed discussion will be provided on the simulation outcomes as well as the pros and cons of each technique for the sake of implementation and improvement of state‐of‐the‐art PTC.

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Section: Control Strategiesmentioning

confidence: 99%

Review and performance evaluation of path tracking controllers of autonomous vehicles

Rokonuzzaman

Mohajer

Nahavandi

et al. 2021

IET Intelligent Trans Sys

View full text Add to dashboard Cite

show abstract

“…The FL controller can address point‐stabilization problems, but it cannot ensure robustness during operation (Akhtar et al, 2015). SMC is also a popular choice for autonomous vehicle control systems due to its robustness and reduced dynamics at the sliding surface (Krid et al, 2016; Yang et al, 2012). However, switching causes chattering effects.…”

Section: Introductionmentioning

confidence: 99%

Leveraging digital twin for autonomous docking of a container truck with stabilization control

Widyotriatmo,

Kuncara,

Amri

et al. 2024

Journal of Field Robotics

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This paper describes the design, development, and implementation of a high‐precision autonomous docking control system for a container truck based on a digital twin approach. The digital twin is used to simulate the dynamic behavior of the physical truck and to design the controller by providing a virtual platform to test, validate, and optimize control strategies and algorithms before their deployment in the actual system. To this end, a cascade of a nonlinear observer and an unscented Kalman filter is used to estimate the state variables of the physical truck for point‐stabilization and orientation controls during the autonomous docking process. The docking motion involves two stabilization problems: point stabilization for smooth motion from the initial configuration to the docking slot, and orientation control to deliver the container truck to the final docking position with a margin of error of 5 cm for position and 0.0087 rad for orientation. The stability of both controllers is investigated, and simulations and experiments are conducted to demonstrate the accuracy of the proposed method in a container terminal environment.

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Simultaneous control of trajectory tracking and coordinated allocation of rocker-bogie planetary rovers

Chao

Shu

Wang

et al. 2021

Mechanical Systems and Signal Processing

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Path Tracking Controllers for Fast Skidding Rover

Cited by 3 publications

References 11 publications

Review and performance evaluation of path tracking controllers of autonomous vehicles

Review and performance evaluation of path tracking controllers of autonomous vehicles

Leveraging digital twin for autonomous docking of a container truck with stabilization control

Simultaneous control of trajectory tracking and coordinated allocation of rocker-bogie planetary rovers

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