Article
Automation & Control Systems
Hao Zhang, Hongming Zhang, Zhuping Wang, Chao Huang, Yan Li
Summary: This article presents a dual-mode model predictive control algorithm based on an adaptive event triggered mechanism for the lateral path following problem of unmanned ground vehicles with bounded disturbances. The proposed algorithm ensures tracking accuracy and reduces optimization computation compared to existing MPC algorithms. Feasibility and stability are guaranteed through constraint region parameter design. Simulation results of the vehicle dynamics model are provided and comparisons are made.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2021)
Article
Engineering, Mechanical
Yue Jiang, Xiaojun Xu, Lei Zhang
Summary: This paper investigates the heading tracking problem of 6WID/4WIS UGV under uncertainties by proposing an improved MFAC scheme and a torque distribution method based on PSO algorithm. The effectiveness of the control strategy is verified through simulation results.
MECHANICAL SYSTEMS AND SIGNAL PROCESSING
(2021)
Article
Engineering, Electrical & Electronic
Chaofang Hu, Lingxue Zhao, Ge Qu
Summary: An event-triggered MPADP algorithm is proposed in this paper for path planning of UGV at road intersection, enhancing approximation accuracy by minimizing the approximation error within predictive horizon. An event-triggered mechanism is designed based on the mismatch of cost function approximation, considering the limitation of energy consumption, with three triggering conditions and corresponding boundedness of approximation error.
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY
(2021)
Article
Engineering, Civil
Kwankyun Byeon, Sesun You, Youngwoo Lee, Sungho Kim, Donghyun Kang, Jongwon Choi, Wonhee Kim
Summary: In this paper, a robust arbitrary-time path tracking control using reduced order kinematic model for the unmanned ground vehicle is proposed. The method involves robust arbitrary-time convergence control and fixed-time super-twisting observer and controller for the kinematic and dynamic models respectively, achieving arbitrary-time convergence and robustness.
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
(2023)
Article
Automation & Control Systems
Yuxiang Deng, Yijing Wang, Haoyu Wang, Zhiqiang Zuo
Summary: This article develops a speed coupled lateral strategy to improve the tracking accuracy of unmanned ground vehicles (UGVs) with variable speed. The characteristics of UGVs are described using a linear parameter-varying (LPV) path-following model, where speed variation is treated as parameter perturbation. The proposed model predictive control (MPC) algorithm calculates the desired angular velocity as the upper control input. Additionally, a convertor based on kinematic model is designed to obtain the steering wheel angle for UGVs. The recursive feasibility of MPC is guaranteed using a terminal constraint-free approach, while stability is deduced through a min-max approach. Experimental results demonstrate the superiority of the speed coupled lateral strategy.
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
(2023)
Article
Engineering, Mechanical
Lei Zhang, Yue Jiang, Guanpeng Chen, Yuanjiang Tang, Shengyang Lu, Xue Gao
Summary: An adaptive counter-rotation hierarchical control strategy is proposed in this paper to achieve the rapid adjustment of driving direction for a six-wheel independent drive and four independent steering unmanned ground vehicle with variable configuration. The strategy is validated through co-simulation under different operation conditions.
NONLINEAR DYNAMICS
(2023)
Article
Automation & Control Systems
Dongwoo Seo, Jaeyoung Kang
Summary: This study proposes a novel velocity-adaptive 3D local path planning algorithm (3DLPP) for single unmanned aerial vehicle (UAV) flying along a reference trajectory with obstacle collision avoidance (CA) in realtime. In the local path planning, local path candidates are generated in three-dimensional space to avoid obstacles in real time using cost functions. The simulation confirmed that the UAV tracked the baseline and avoided all obstacles by moving in the omni-direction suppressing the centripetal acceleration of UAV during maneuvering.
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
(2023)
Article
Chemistry, Analytical
Yoonsuk Choi, Wonwoo Lee, Jeesu Kim, Jinwoo Yoo
Summary: The proposed MPC algorithm improves path-following performance by updating sampling time based on control inputs, reducing tracking errors. Experimental results show that the new algorithm outperforms the existing MPC algorithm in terms of path-following performance.
Article
Automation & Control Systems
Chuanjian Lin, Jingping Shi, Weiguo Zhang, Yongxi Lyu
Summary: A new guidance law based on a coordinated turning equation is proposed for target tracking, with proven asymptotic stability and improved capability to track moving ground objects with time-varying states. Linear analysis aids in selecting control parameters, and numerical simulations show faster convergence speed and higher precision compared to existing methods. Hardware-in-the-loop (HIL) simulations verify the effectiveness and robustness of the guidance law in various scenarios.
Article
Engineering, Electrical & Electronic
Haotian Dong, Junqiang Xi
Summary: Longitudinal motion controllers based on oversimplified models can lead to steady-state errors, oscillations, and overshoots in velocity, affecting the trajectory tracking capability, energy economy, and ride comfort of unmanned ground vehicles (UGVs). This paper proposes a multi-objective model predictive control approach for the electronic control unit (ECU) of UGVs, using a trajectory tracking model and a high-level multi-objective controller combined with a low-level controller based on powertrain/brake dynamics. The method is validated through simulations and vehicle tests, demonstrating its superiority in achieving multiple objectives compared to other commonly used methodologies.
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY
(2022)
Article
Computer Science, Information Systems
Hayriye Tugba Sekban, Abdullah Basci
Summary: This paper proposes three new dynamic model-based adaptive sliding mode controllers for trajectory tracking control of unmanned ground vehicles. These controllers perform well in addressing the challenges posed by uncertain parameters and outperform traditional sliding mode control methods in terms of performance.
Article
Robotics
Miaolei He, Xiangdi Yue, Yuling Zheng, Junxin Chen, Shuangqing Wu, Zeng Heng, Xuanyi Zhou, Yaoyi Cai
Summary: This article presents a review of the platform configuration and dynamic of obstacle-surmounting unmanned ground vehicles (UGVs). The UGV platform has emerged due to the rapid advancement of artificial intelligence and modern manufacturing techniques, and extensive research has been conducted on this field. With its high-level self-control, adaption, and maneuverability abilities, the UGV platform has been widely applied in military, industrial, and other special fields. However, the all-terrain performance remains a key factor limiting their operating efficiency and reliability. A brief literature review of the UGV platform is conducted in this article.
Article
Engineering, Mechanical
Guoxing Bai, Yu Meng, Li Liu, Guodong Wang, Jianxiu Huang, Haoqing Zheng
Summary: Research on path tracking control of unmanned ground vehicles based on control methods such as model predictive control (MPC) is growing. However, the problem of signal time delay has been overlooked. A solution based on the iterative mechanism of MPC is proposed to address this problem. A nonlinear MPC (NMPC) controller is designed and verified, showing high accuracy and real-time performance in completing path tracking control in the system with signal time delay.
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING
(2023)
Article
Automation & Control Systems
Zongyu Zuo, Cunjia Liu, Qing-Long Han, Jiawei Song
Summary: This paper provides a brief review of UAV control issues, including motion equations and various classical and advanced control approaches. The basic ideas, applicable conditions, advantages, and disadvantages of these control approaches are illustrated and discussed. Some challenging topics and future research directions are raised.
IEEE-CAA JOURNAL OF AUTOMATICA SINICA
(2022)
Article
Chemistry, Multidisciplinary
Mingeuk Kim, Seungjin Yoo, Dongwook Lee, Geun-Ho Lee
Summary: In this study, a method for path generation of UGVs was developed, using the modified potential field algorithm to reduce computation time. The algorithm was validated through experiments.
APPLIED SCIENCES-BASEL
(2022)
