Trajectory Tracking Control Algorithm of Two-wheel Rutting Model

Yuanhong Dan; Haiyang Zhong

doi:10.54097/fcis.v6i1.09

Authors

Yuanhong Dan
Haiyang Zhong

DOI:

https://doi.org/10.54097/fcis.v6i1.09

Keywords:

Unmanned Two-wheeled Vehicle, Trajectory Tracking Control, Model Predictive Control, Kinematic Model

Abstract

In the development of unmanned two-wheeled self-balancing vehicle, it is very important to consider the trajectory tracking of unmanned two-wheeled self-balancing vehicle. In order to study the track tracking problem of unmanned two-wheeled self-balancing vehicle, the kinematic model of unmanned two-wheeled vehicle and the relation between its roll Angle and the kinematic model were established. The simulation platform is built to realize the unmanned two-wheeled vehicle and realize the circular track tracking at 5m/s, and the tracking performance of the track tracking controller under the circular track is verified.

Downloads

Download data is not yet available.

References

Singh, R, Bhushan, B. Improved ant colony optimization for achieving self-balancing and position control for balancer systems[J]. Journal of Ambient Intelligence and Humanized Computing, 2021, 12: 8339–8356.

Leilei Cui, Shuai Wang, Zhengyou Zhang, et al. Asymptotic Trajectory Tracking of Autonomous Bicycles via Backstepping and Optimal Control[J]. IEEE Control Systems Letters, 2022, 6: 1292-1297.

Huang Mei. Trajectory Planning and Tracking Control of Intelligent Vehicle based on Model Predictive Control [D]. Chongqing University of Posts and Telecommunications, 2020.

Liu Nan. Research on Trajectory Tracking Control of Unmanned Vehicles based on MPC [D]. Xi 'an University of Technology, 2021.

Liang Zhongchao, Zhang Huan, Zhao Jing, et al. Autonomous vehicle trajectory tracking control based on adaptive MPC [J]. Journal of Northeastern University (Natural Science), 2020, 41 (6): 835.

Wang Si-xiao, Zhao Wen-jun, Zhang Hao, Gao Yong, Lipson. TD-PID control algorithm of coaxial anti-propeller UAV string based on differential tracker[J]. Journal of Zhejiang University (Engineering Edition), 2021, 55 (12): 2359-2364.

Wu Hong-xin, Shen Shao-ping. Application and theoretical basis of PID control[J]. Control Engineering, 2003 (01): 37-42.

Gong Jian-wei, Liu Kai, Qi Jian-yong. Model predictive control for driverless vehicles, 2nd edition[M]. Beijing: People's Post and Telecommunications Press, 2020.

Chu Can-can, Wang Dong, Zhang Wei-gong, etc. Speed control of electric vehicle driving robot based on inverse control strategy model[J]. Automotive Engineering, 2020, 42 (9): 1166-1173.

Xin Peng. Research on path tracking model predictive control method for autonomous vehicles[D]. Lanzhou University of Technology, 2021.

Wang Qi, Kong De-peng. Terminal trajectory tracking control of free-floating dual-arm space robot[J]. Mechanical Design and Manufacturing, 2022, No.382 (12): 68-72.