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...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-05-01
|
| Series: | World Electric Vehicle Journal |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2032-6653/14/5/118 |
| _version_ | 1797598058105536512 |
|---|---|
| author | Zonghe Ding Shuang Lin Wei Gu Yilian Zhang |
| author_facet | Zonghe Ding Shuang Lin Wei Gu Yilian Zhang |
| author_sort | Zonghe Ding |
| collection | DOAJ |
| description | 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 impact of external interferences on the trajectory tracking accuracy, an improved dynamic Kalman filter is designed in order to obtain the state estimation of the ASC. Based on the obtained state estimation, a model-predictive control method is proposed which takes the anti-overturning constraints into account. In addition, the improved Kalman-filter-based model-predictive control (iKFMPC) algorithm is summarized for the considered ASC to travel smoothly along the given trajectory while meeting the overturning resistance. Finally, simulation analyses demonstrate the effectiveness and superiority of the proposed method. |
| first_indexed | 2024-03-11T03:14:01Z |
| format | Article |
| id | doaj.art-fe74f10ad70f4221a562a612208b09e0 |
| institution | Directory Open Access Journal |
| issn | 2032-6653 |
| language | English |
| last_indexed | 2024-03-11T03:14:01Z |
| publishDate | 2023-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | World Electric Vehicle Journal |
| spelling | doaj.art-fe74f10ad70f4221a562a612208b09e02023-11-18T03:43:05ZengMDPI AGWorld Electric Vehicle Journal2032-66532023-05-0114511810.3390/wevj14050118Improved Kalman-Filter-Based Model-Predictive Control Method for Trajectory Tracking of Automatic Straddle CarriersZonghe Ding0Shuang Lin1Wei Gu2Yilian Zhang3Key Laboratory of Marine Technology and Control Engineering Ministry of Communications, Shanghai Maritime University, Shanghai 201306, ChinaKey Laboratory of Marine Technology and Control Engineering Ministry of Communications, Shanghai Maritime University, Shanghai 201306, ChinaKey Laboratory of Marine Technology and Control Engineering Ministry of Communications, Shanghai Maritime University, Shanghai 201306, ChinaKey Laboratory of Marine Technology and Control Engineering Ministry of Communications, Shanghai Maritime University, Shanghai 201306, ChinaThis 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 impact of external interferences on the trajectory tracking accuracy, an improved dynamic Kalman filter is designed in order to obtain the state estimation of the ASC. Based on the obtained state estimation, a model-predictive control method is proposed which takes the anti-overturning constraints into account. In addition, the improved Kalman-filter-based model-predictive control (iKFMPC) algorithm is summarized for the considered ASC to travel smoothly along the given trajectory while meeting the overturning resistance. Finally, simulation analyses demonstrate the effectiveness and superiority of the proposed method.https://www.mdpi.com/2032-6653/14/5/118model-predictive controlautomatic straddle carriertrajectory tracking controlanti-overturning constraintsimproved Kalman filter |
| spellingShingle | Zonghe Ding Shuang Lin Wei Gu Yilian Zhang Improved Kalman-Filter-Based Model-Predictive Control Method for Trajectory Tracking of Automatic Straddle Carriers World Electric Vehicle Journal model-predictive control automatic straddle carrier trajectory tracking control anti-overturning constraints improved Kalman filter |
| title | Improved Kalman-Filter-Based Model-Predictive Control Method for Trajectory Tracking of Automatic Straddle Carriers |
| title_full | Improved Kalman-Filter-Based Model-Predictive Control Method for Trajectory Tracking of Automatic Straddle Carriers |
| title_fullStr | Improved Kalman-Filter-Based Model-Predictive Control Method for Trajectory Tracking of Automatic Straddle Carriers |
| title_full_unstemmed | Improved Kalman-Filter-Based Model-Predictive Control Method for Trajectory Tracking of Automatic Straddle Carriers |
| title_short | Improved Kalman-Filter-Based Model-Predictive Control Method for Trajectory Tracking of Automatic Straddle Carriers |
| title_sort | improved kalman filter based model predictive control method for trajectory tracking of automatic straddle carriers |
| topic | model-predictive control automatic straddle carrier trajectory tracking control anti-overturning constraints improved Kalman filter |
| url | https://www.mdpi.com/2032-6653/14/5/118 |
| work_keys_str_mv | AT zongheding improvedkalmanfilterbasedmodelpredictivecontrolmethodfortrajectorytrackingofautomaticstraddlecarriers AT shuanglin improvedkalmanfilterbasedmodelpredictivecontrolmethodfortrajectorytrackingofautomaticstraddlecarriers AT weigu improvedkalmanfilterbasedmodelpredictivecontrolmethodfortrajectorytrackingofautomaticstraddlecarriers AT yilianzhang improvedkalmanfilterbasedmodelpredictivecontrolmethodfortrajectorytrackingofautomaticstraddlecarriers |