考虑滑动转向非线性的履带车辆轨迹跟踪控制

IF 3.2 Q2 AUTOMATION & CONTROL SYSTEMS
A. Al-Jarrah, M. Salah
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引用次数: 1

摘要

在许多应用中,移动车辆在崎岖的地形上运行,以处理某些任务和任务。因此,他们设计了轨道来处理这种不规则的表面。履带车辆在滑移影响下的运动控制和转向问题一直是许多专家和研究者感兴趣的课题,需要进一步深入研究。事实上,有滑移的滑向履带车辆的建模和控制是非常具有挑战性的。本文提出了不同的控制方案来研究履带车辆在不同期望轨迹下的闭环动力学性能。制定并调整了三种控制策略来处理打滑时滑动的不良影响:(i)鲁棒非线性控制器,(ii)基于速度补偿的模糊逻辑控制器和(iii)基于速度补偿的比例积分控制器。所提出的控制方案旨在探索具有滑移的滑移转向控制的新方法。引入了初步的仿真结果来验证所提出的控制器的有效性,使用不同的期望轨迹,并证明了使用这种控制器的可行性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Trajectory tracking control of tracked vehicles considering nonlinearities due to slipping while skid-steering
In many applications, mobile vehicles operate over rough terrains to handle certain tasks and missions. Therefore, they are designed with tracks to deal with such irregular surfaces. Motion control and steering of tracked vehicles under the influence of slipping while skidding are still an interesting topic for many specialists and researchers and need further investigation. In fact, modelling and control of skid-steered tracked vehicles with slipping are very challenging. In this paper, various control schemes are proposed to investigate the closed-loop dynamical performance of tracked vehicles using different desired trajectories. Three control strategies are formulated and tuned to handle the undesirable effect of slipping while skidding: (i) robust nonlinear controller, (ii) speed compensation-based fuzzy logic controller, and (iii) speed compensation-based proportional–integral controller. The proposed control schemes are designed to explore new methods of skid-steering control with slipping. Preliminary simulation results are introduced to verify the effectiveness of the proposed controllers, using different desired trajectories, and to demonstrate the feasibility of utilizing such controllers.
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来源期刊
Systems Science & Control Engineering
Systems Science & Control Engineering AUTOMATION & CONTROL SYSTEMS-
CiteScore
9.50
自引率
2.40%
发文量
70
审稿时长
29 weeks
期刊介绍: Systems Science & Control Engineering is a world-leading fully open access journal covering all areas of theoretical and applied systems science and control engineering. The journal encourages the submission of original articles, reviews and short communications in areas including, but not limited to: · artificial intelligence · complex systems · complex networks · control theory · control applications · cybernetics · dynamical systems theory · operations research · systems biology · systems dynamics · systems ecology · systems engineering · systems psychology · systems theory
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