Robust Adaptive Trajectory Tracking Control Approach for Autonomous Tracked Vehicles

doi:10.3969/j.issn.1000-1093.2021.06.002

Abstract

Abstract: A robust adaptive trajectory tracking control approach based on robust integral of sign of error is presented for the trajectory tracking control of autonomous tracked vehicles in the field environment. In the proposed approach, the modelling errors, parametric uncertainties, and external random and strong disturbances are taken into account. A kinematic and dynamic coupling model of autonomous tracked vehicles is established based on Lagrangian dynamical equation. The feedforward compensation of the established model is realized by adaptive control approach, and the external disturbances and uncertainties can be suppressed by using the robust integral of sign of error. And then the asymptotical global stability and convergence of the closed loop system is demonstrated by Lyapunov stability theory. The simulated results were verified through real vehicle test. Simulated and experimental results show that the proposed approach can be used to realize the high accuracy trajectory tracking and insure the adaptiveness and robustness for autonomous tracked vehicles in the presence of modelling errors, parametric uncertainties and external disturbances.

Key words: trackedvehicle, autonomousdriving, robustadaptivity, trajectorytracking

CLC Number:

TJ810.2

LI Rui， XIANG Changle， WANG Chao， FAN Jingjing， LIU Chunlin. Robust Adaptive Trajectory Tracking Control Approach for Autonomous Tracked Vehicles[J]. Acta Armamentarii, 2021, 42(6): 1128-1137.

References ［1］

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