Tractor–trailer vehicles will suffer from nonholonomic constraint, uncertain disturbance, and various physical limits, when they perform path tracking maneuver autonomously. This paper presents a composite path tracking control strategy to tackle the various problems arising from not only vehicle kinematic but also dynamic levels via two powerful control techniques. The proposed composite control structure consists of a model predictive control (MPC)-based posture controller and a direct adaptive fuzzy-based dynamic controller, respectively. The former posture controller can make the underactuated trailer midpoint follow an arbitrary reference trajectory given by the earth-fixed frame, as well as satisfying various physical limits. Meanwhile, the latter dynamic controller enables the vehicle velocities to track the desired velocities produced by the former one, and the global asymptotical convergence of dynamic controller is strictly guaranteed in the sense of Lyapunov stability theorem. The simulation results illustrate that the presented control strategy can achieve a coordinated control effect for the sophisticated tractor–trailer vehicles, thereby enhancing their movement performance in complex environments.
Skip Nav Destination
Article navigation
November 2017
Research-Article
Composite Path Tracking Control for Tractor–Trailer Vehicles Via Constrained Model Predictive Control and Direct Adaptive Fuzzy Techniques
Ming Yue,
Ming Yue
School of Automotive Engineering,
Dalian University of Technology,
Dalian 116024, Liaoning, China
e-mail: yueming@dlut.edu.cn
Dalian University of Technology,
Dalian 116024, Liaoning, China
e-mail: yueming@dlut.edu.cn
Search for other works by this author on:
Xiaoqiang Hou,
Xiaoqiang Hou
School of Automotive Engineering,
Dalian University of Technology,
Dalian 116024, Liaoning, China
Dalian University of Technology,
Dalian 116024, Liaoning, China
Search for other works by this author on:
Wenbin Hou
Wenbin Hou
School of Automotive Engineering,
Dalian University of Technology,
Dalian 116024, Liaoning, China
Dalian University of Technology,
Dalian 116024, Liaoning, China
Search for other works by this author on:
Ming Yue
School of Automotive Engineering,
Dalian University of Technology,
Dalian 116024, Liaoning, China
e-mail: yueming@dlut.edu.cn
Dalian University of Technology,
Dalian 116024, Liaoning, China
e-mail: yueming@dlut.edu.cn
Xiaoqiang Hou
School of Automotive Engineering,
Dalian University of Technology,
Dalian 116024, Liaoning, China
Dalian University of Technology,
Dalian 116024, Liaoning, China
Wenbin Hou
School of Automotive Engineering,
Dalian University of Technology,
Dalian 116024, Liaoning, China
Dalian University of Technology,
Dalian 116024, Liaoning, China
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received September 17, 2016; final manuscript received May 13, 2017; published online July 28, 2017. Editor: Joseph Beaman.
J. Dyn. Sys., Meas., Control. Nov 2017, 139(11): 111008 (12 pages)
Published Online: July 28, 2017
Article history
Received:
September 17, 2016
Revised:
May 13, 2017
Citation
Yue, M., Hou, X., and Hou, W. (July 28, 2017). "Composite Path Tracking Control for Tractor–Trailer Vehicles Via Constrained Model Predictive Control and Direct Adaptive Fuzzy Techniques." ASME. J. Dyn. Sys., Meas., Control. November 2017; 139(11): 111008. https://doi.org/10.1115/1.4036884
Download citation file:
Get Email Alerts
Global-Position Tracking Control for Multi-Domain Bipedal Walking with Underactuation
J. Dyn. Sys., Meas., Control
Surge-Elimination Strategy for Aero-Engine Transient Control
J. Dyn. Sys., Meas., Control (July 2024)
Safe Reinforcement Learning-Based Balance Control for Multi-Cylinder Hydraulic Press
J. Dyn. Sys., Meas., Control (July 2024)
Integral Sliding Mode Disturbance Observer Based Preview Repetitive Control
J. Dyn. Sys., Meas., Control
Related Articles
Adaptive Robust Backstepping Output Tracking Control for a Class of Uncertain Nonlinear Systems Using Neural Network
J. Dyn. Sys., Meas., Control (July,2018)
Nonlinear Robust Output Stabilization for Mechanical Systems Based on Luenberger-Like Controller/Observer
J. Dyn. Sys., Meas., Control (August,2017)
Dynamic Neural Network-Based Output Feedback Tracking Control for Uncertain Nonlinear Systems
J. Dyn. Sys., Meas., Control (July,2017)
Tracking Design of an Omni-Direction Autonomous Ground Vehicle by Hierarchical Enhancement Using Fuzzy Second-Order Variable Structure Control
J. Dyn. Sys., Meas., Control (September,2018)
Related Proceedings Papers
Related Chapters
Dynamic Simulations to Become Expert in Order to Set Fuzzy Rules in Real Systems
International Conference on Advanced Computer Theory and Engineering, 4th (ICACTE 2011)
Feedback-Aided Minimum Joint Motion
Robot Manipulator Redundancy Resolution
An Adaptive Fuzzy Control for a Multi-Degree-of-Freedom System
Intelligent Engineering Systems Through Artificial Neural Networks, Volume 17