Optimal trajectory tracking control for automated guided vehicles

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1 Citaat (Scopus)

Uittreksel

This work presents a control strategy for the trajectory tracking problem of an
Automated Guided Vehicle (AGV). In contrast to the current methods, this design strategy remains invariant and flexible to arbitrary number of wheels. A three-stage cascade control strategy is proposed in which the control design for the vehicle chassis is separated from the wheel-tire modules. For a given vehicle reference trajectory, the outer controller determines the required forces and moment inputs to the vehicle chassis in a time-receding fashion. At the second
stage, the required forces and moment inputs are optimally allocated for each wheel and tire. At each wheel-tire module, a nonlinear controller is used to determine the actual control input for the wheel actuators. The performance of the presented control strategy is illustrated through simulation results with a realistic driving scenario for a six-wheeled vehicle. We demonstrate
that the proposed controller architecture is congurable for an arbitrary number of wheels and capable of handling large steering angles efficiently.

Vingerafdruk

Wheels
Trajectories
Tires
Chassis
Controllers
Actuators

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    @article{fcf595eff9604579bb8c2a0269d30693,
    title = "Optimal trajectory tracking control for automated guided vehicles",
    abstract = "This work presents a control strategy for the trajectory tracking problem of anAutomated Guided Vehicle (AGV). In contrast to the current methods, this design strategy remains invariant and flexible to arbitrary number of wheels. A three-stage cascade control strategy is proposed in which the control design for the vehicle chassis is separated from the wheel-tire modules. For a given vehicle reference trajectory, the outer controller determines the required forces and moment inputs to the vehicle chassis in a time-receding fashion. At the secondstage, the required forces and moment inputs are optimally allocated for each wheel and tire. At each wheel-tire module, a nonlinear controller is used to determine the actual control input for the wheel actuators. The performance of the presented control strategy is illustrated through simulation results with a realistic driving scenario for a six-wheeled vehicle. We demonstratethat the proposed controller architecture is congurable for an arbitrary number of wheels and capable of handling large steering angles efficiently.",
    keywords = "Trajectory tracking, path following, Decentralized control, Systems, Autonomous Vehicles, Motion control",
    author = "A. Das and Y. Kasemsinsup and S. Weiland",
    year = "2017",
    month = "7",
    day = "31",
    doi = "10.1016/j.ifacol.2017.08.050",
    language = "English",
    volume = "50",
    pages = "303–308",
    journal = "IFAC-PapersOnLine",
    issn = "2405-8963",
    publisher = "Elsevier",
    number = "1",

    }

    Optimal trajectory tracking control for automated guided vehicles. / Das, A.; Kasemsinsup, Y.; Weiland, S.

    In: IFAC-PapersOnLine, Vol. 50, Nr. 1, 31.07.2017, blz. 303–308.

    Onderzoeksoutput: Bijdrage aan tijdschriftCongresartikelAcademicpeer review

    TY - JOUR

    T1 - Optimal trajectory tracking control for automated guided vehicles

    AU - Das,A.

    AU - Kasemsinsup,Y.

    AU - Weiland,S.

    PY - 2017/7/31

    Y1 - 2017/7/31

    N2 - This work presents a control strategy for the trajectory tracking problem of anAutomated Guided Vehicle (AGV). In contrast to the current methods, this design strategy remains invariant and flexible to arbitrary number of wheels. A three-stage cascade control strategy is proposed in which the control design for the vehicle chassis is separated from the wheel-tire modules. For a given vehicle reference trajectory, the outer controller determines the required forces and moment inputs to the vehicle chassis in a time-receding fashion. At the secondstage, the required forces and moment inputs are optimally allocated for each wheel and tire. At each wheel-tire module, a nonlinear controller is used to determine the actual control input for the wheel actuators. The performance of the presented control strategy is illustrated through simulation results with a realistic driving scenario for a six-wheeled vehicle. We demonstratethat the proposed controller architecture is congurable for an arbitrary number of wheels and capable of handling large steering angles efficiently.

    AB - This work presents a control strategy for the trajectory tracking problem of anAutomated Guided Vehicle (AGV). In contrast to the current methods, this design strategy remains invariant and flexible to arbitrary number of wheels. A three-stage cascade control strategy is proposed in which the control design for the vehicle chassis is separated from the wheel-tire modules. For a given vehicle reference trajectory, the outer controller determines the required forces and moment inputs to the vehicle chassis in a time-receding fashion. At the secondstage, the required forces and moment inputs are optimally allocated for each wheel and tire. At each wheel-tire module, a nonlinear controller is used to determine the actual control input for the wheel actuators. The performance of the presented control strategy is illustrated through simulation results with a realistic driving scenario for a six-wheeled vehicle. We demonstratethat the proposed controller architecture is congurable for an arbitrary number of wheels and capable of handling large steering angles efficiently.

    KW - Trajectory tracking

    KW - path following

    KW - Decentralized control

    KW - Systems

    KW - Autonomous Vehicles

    KW - Motion control

    U2 - 10.1016/j.ifacol.2017.08.050

    DO - 10.1016/j.ifacol.2017.08.050

    M3 - Conference article

    VL - 50

    SP - 303

    EP - 308

    JO - IFAC-PapersOnLine

    T2 - IFAC-PapersOnLine

    JF - IFAC-PapersOnLine

    SN - 2405-8963

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