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Path following for an articulated vehicle based on switching model predictive control under varying speeds and slip angles
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0003-0126-1897
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0002-0079-9049
2012 (English)In: 17th-ETFA 2012 - IEEE International Conference on Emerging Technology & Factory Automation,: Krakow, Poland, Sep. 17-21, 2012, Piscataway, NJ: IEEE Communications Society, 2012Conference paper, Published paper (Refereed)
Abstract [en]

This article is focusing on the problem of path following for an articulated vehicle under varying velocities and slip conditions. The proposed control architecture consists of a switching control scheme based on multiple model predictive controllers, fine tuned for dealing with different operating speeds and slip angles. In the presented analysis for the non–holonomic articulated vehicle, the corresponding kinematic model is being transformed into an error dynamics model, which is linearized around multiple nominal slip angle cases and various operating speeds. The existence of the slipping and varying speed has a significant effect on the vehicle’s path following capability and can significantly deteriorate the performance of the overall control scheme. Based on the derived multiple dynamics modeling, the current slip and vehicle’s speed are being considered as the signal selector for the proposed switching model predictive control scheme. The efficacy of the proposed controller is being evaluated byan extended set of simulation results.

Place, publisher, year, edition, pages
Piscataway, NJ: IEEE Communications Society, 2012.
Series
I E E E International Conference on Emerging Technologies and Factory Automation. Proceedings, ISSN 1946-0740
Keyword [en]
Information technology - Automatic control
Keyword [sv]
Informationsteknik - Reglerteknik
National Category
Control Engineering
Research subject
Control Engineering
Identifiers
URN: urn:nbn:se:ltu:diva-28681DOI: 10.1109/ETFA.2012.6489635Local ID: 28f959b0-9777-4d0d-99ba-a3b4604299e6ISBN: 978-1-4673-4735-8 (print)ISBN: 978-1-4673-4736-5 (electronic)OAI: oai:DiVA.org:ltu-28681DiVA: diva2:1001884
Conference
IEEE International Conference on Emerging Technologies and Factory Automation : 17/09/2012 - 21/09/2012
Note
Validerad; 2013; 20120603 (thanay)Available from: 2016-09-30 Created: 2016-09-30 Last updated: 2017-11-25Bibliographically approved

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Nayl, ThakerNikolakopoulos, GeorgeGustafsson, Thomas
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