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- Title
Path Tracking Control for Autonomous Underground Mining Articulated Dump Truck.
- Authors
Xuan ZHAO; Jue YANG; Lin LI; Wenming ZHANG; Jun ZENG
- Abstract
Path tracking for articulated dump truck in tunnel is the fundamental of autonomous driving. It is vital to safety and stability. This article proposes a path tracking strategy for an articulated vehicle using sliding mode control (SMC) algorithm. Firstly, the kinematics model of the articulated truck is established. Based on the kinematics, the error model between real path and reference path, which decides the quality of path tracking, is developed. According to the error model, the sliding mode controller is designed. The Ackermann's formula is used for solving the control law, and Lyapunov function proves the stability. Finally, the hardware in the loop simulation is lunched for verifying the real-time path tracking performance. The simulation result shows that the SMC controller can track the reference path effectively.
- Publication
Electrotehnica, Electronica, Automatica, 2015, Vol 63, Issue 3, p75
- ISSN
1582-5175
- Publication type
Academic Journal