Improved Kalman-Filter-Based Model-Predictive Control Method for Trajectory Tracking of Automatic Straddle Carriers

Improved Kalman-Filter-Based Model-Predictive Control Method for Trajectory Tracking of Automatic Straddle Carriers

This paper considers the trajectory tracking problem for a class of automatic straddle carriers (ASCs) with external interferences and the overturning constraints. First, the steering and the dynamics of the ASC are analyzed and the mathematical model of the ASC is established. Then, considering the...

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Bibliographic Details
Main Authors: Zonghe Ding, Shuang Lin, Wei Gu, Yilian Zhang
Format: Article
Language:English
Published: MDPI AG 2023-05-01
Series:World Electric Vehicle Journal
Subjects:
model-predictive control
automatic straddle carrier
trajectory tracking control
anti-overturning constraints
improved Kalman filter
Online Access:https://www.mdpi.com/2032-6653/14/5/118

Internet

https://www.mdpi.com/2032-6653/14/5/118

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