PSO-NMPC control strategy based path tracking control of mining LHD (scraper)

PSO-NMPC control strategy based path tracking control of mining LHD (scraper)

Abstract The automation of underground articulated vehicles is a critical step in advancing digital and smart mining. Current nonlinear model predictive control (NMPC) controllers face challenges such as delays in turning on large curvature paths and correction lags during the control of underground...

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Bibliographic Details
Main Authors: Ya Liu, Ping-an Peng, Li-guan Wang, Jia-xi Wu, Ming-yu Lei, Chao-wei Zhang, Ru Lei
Format: Article
Language:English
Published: Nature Portfolio 2024-11-01
Series:Scientific Reports
Subjects:
Mining LHD
Nonlinear model predictive control
Particle swarm optimization algorithm
PSO-NMPC control strategy
Path tracking control
Online Access:https://doi.org/10.1038/s41598-024-79248-8
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