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论文类型： 期刊论文

发表时间： 2017-11-01

发表刊物： JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME

收录刊物： Scopus、SCIE、EI

卷号： 139

期号： 11

ISSN号： 0022-0434

关键字： tractor-trailer vehicle; path tracking; model predictive control (MPC); direct adaptive fuzzy control; vehicle dynamics

摘要： Tractor-trailer vehicles will suffer from nonholonomic constraint, uncertain disturbance, and various physical limits, when they perform path tracking maneuver autonomously. This paper presents a composite path tracking control strategy to tackle the various problems arising from not only vehicle kinematic but also dynamic levels via two powerful control techniques. The proposed composite control structure consists of a model predictive control (MPC)-based posture controller and a direct adaptive fuzzy-based dynamic controller, respectively. The former posture controller can make the underactuated trailer midpoint follow an arbitrary reference trajectory given by the earth-fixed frame, as well as satisfying various physical limits. Meanwhile, the latter dynamic controller enables the vehicle velocities to track the desired velocities produced by the former one, and the global asymptotical convergence of dynamic controller is strictly guaranteed in the sense of Lyapunov stability theorem. The simulation results illustrate that the presented control strategy can achieve a coordinated control effect for the sophisticated tractor-trailer vehicles, thereby enhancing their movement performance in complex environments.