Path-Tracking Ability of the ASV on Different Adhesion Coefficient Roads Based on Slide Mode Control
A vehicle equipped with an articulated steering system is often used in a particular area, such as a mine or the construction field. These sealing or semi-sealing fields make autonomous driving by an ASV (Articulated Steering Vehicle) easier than in passenger cars. Path-tracking is essential for an...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-12-01
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| Series: | Electronics |
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| Online Access: | https://www.mdpi.com/2079-9292/13/1/105 |
| _version_ | 1797358944147996672 |
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| author | Shengzhi Zhong Dengzhi Peng Bin Huang Liutao Ma |
| author_facet | Shengzhi Zhong Dengzhi Peng Bin Huang Liutao Ma |
| author_sort | Shengzhi Zhong |
| collection | DOAJ |
| description | A vehicle equipped with an articulated steering system is often used in a particular area, such as a mine or the construction field. These sealing or semi-sealing fields make autonomous driving by an ASV (Articulated Steering Vehicle) easier than in passenger cars. Path-tracking is essential for an autonomous vehicle. To improve the path-tracking ability of an ASV, a path-tracking model is established based on dynamic theory. Then, the slide-mode predictive-control (SMPC) strategy is initiated to design the path-tracking controller. The improvement in the path-tracking ability on roads with different adhesion coefficients is validated via the HIL (Hardware in Loop) platform. According to the simulation in HIL with the provided strategy, the path-tracking error during the typical condition decreased by 21.73~93.84%, demonstrating the SMC controller can be used to improve the path-tracking performance of an ASV. |
| first_indexed | 2024-03-08T15:09:29Z |
| format | Article |
| id | doaj.art-85d73fb36d6b41dabdd51dc8f8fb5028 |
| institution | Directory Open Access Journal |
| issn | 2079-9292 |
| language | English |
| last_indexed | 2024-03-08T15:09:29Z |
| publishDate | 2023-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Electronics |
| spelling | doaj.art-85d73fb36d6b41dabdd51dc8f8fb50282024-01-10T14:54:30ZengMDPI AGElectronics2079-92922023-12-0113110510.3390/electronics13010105Path-Tracking Ability of the ASV on Different Adhesion Coefficient Roads Based on Slide Mode ControlShengzhi Zhong0Dengzhi Peng1Bin Huang2Liutao Ma3Hubei Key Laboratory of Advanced Technology for Automotive Components, Wuhan University of Technology, Wuhan 430070, ChinaDongfeng Off-Road Vehicle Co., Ltd., Shiyan 442013, ChinaHubei Key Laboratory of Advanced Technology for Automotive Components, Wuhan University of Technology, Wuhan 430070, ChinaHubei Key Laboratory of Advanced Technology for Automotive Components, Wuhan University of Technology, Wuhan 430070, ChinaA vehicle equipped with an articulated steering system is often used in a particular area, such as a mine or the construction field. These sealing or semi-sealing fields make autonomous driving by an ASV (Articulated Steering Vehicle) easier than in passenger cars. Path-tracking is essential for an autonomous vehicle. To improve the path-tracking ability of an ASV, a path-tracking model is established based on dynamic theory. Then, the slide-mode predictive-control (SMPC) strategy is initiated to design the path-tracking controller. The improvement in the path-tracking ability on roads with different adhesion coefficients is validated via the HIL (Hardware in Loop) platform. According to the simulation in HIL with the provided strategy, the path-tracking error during the typical condition decreased by 21.73~93.84%, demonstrating the SMC controller can be used to improve the path-tracking performance of an ASV.https://www.mdpi.com/2079-9292/13/1/105path-trackingASVSMPC |
| spellingShingle | Shengzhi Zhong Dengzhi Peng Bin Huang Liutao Ma Path-Tracking Ability of the ASV on Different Adhesion Coefficient Roads Based on Slide Mode Control Electronics path-tracking ASV SMPC |
| title | Path-Tracking Ability of the ASV on Different Adhesion Coefficient Roads Based on Slide Mode Control |
| title_full | Path-Tracking Ability of the ASV on Different Adhesion Coefficient Roads Based on Slide Mode Control |
| title_fullStr | Path-Tracking Ability of the ASV on Different Adhesion Coefficient Roads Based on Slide Mode Control |
| title_full_unstemmed | Path-Tracking Ability of the ASV on Different Adhesion Coefficient Roads Based on Slide Mode Control |
| title_short | Path-Tracking Ability of the ASV on Different Adhesion Coefficient Roads Based on Slide Mode Control |
| title_sort | path tracking ability of the asv on different adhesion coefficient roads based on slide mode control |
| topic | path-tracking ASV SMPC |
| url | https://www.mdpi.com/2079-9292/13/1/105 |
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