Trajectory Tracking Control in Real-Time of Dual-Motor-Driven Driverless Racing Car Based on Optimal Control Theory and Fuzzy Logic Method
To improve the accuracy and timeliness of the trajectory tracking control of the driverless racing car during the race, this paper proposes a track tracking control method that integrates the rear wheel differential drive and the front wheel active steering based on optimal control theory and fuzzy...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2021-01-01
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| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2021/5549776 |
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| _version_ | 1832566426363232256 |
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| author | Gang Li Sucai Zhang Lei Liu Xubin Zhang Yuming Yin |
| author_facet | Gang Li Sucai Zhang Lei Liu Xubin Zhang Yuming Yin |
| author_sort | Gang Li |
| collection | DOAJ |
| description | To improve the accuracy and timeliness of the trajectory tracking control of the driverless racing car during the race, this paper proposes a track tracking control method that integrates the rear wheel differential drive and the front wheel active steering based on optimal control theory and fuzzy logic method. The model of the lateral track tracking error of the racing car is established. The model is linearized and discretized, and the quadratic optimal steering control problem is constructed. Taking advantage of the differential drive of dual-motor-driven racing car, the dual motors differential drive fuzzy controller is designed and integrated driving with active steering control. Simulation analysis and actual car verification show that this integrated control method can ensure that the car tracks different race tracks well and improve the track tracking control accuracy by nearly 30%. |
| format | Article |
| id | doaj-art-9f7305f26db7428a9e02ff76b3ab6583 |
| institution | Kabale University |
| issn | 1076-2787 1099-0526 |
| language | English |
| publishDate | 2021-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Complexity |
| spelling | doaj-art-9f7305f26db7428a9e02ff76b3ab65832025-02-03T01:04:12ZengWileyComplexity1076-27871099-05262021-01-01202110.1155/2021/55497765549776Trajectory Tracking Control in Real-Time of Dual-Motor-Driven Driverless Racing Car Based on Optimal Control Theory and Fuzzy Logic MethodGang Li0Sucai Zhang1Lei Liu2Xubin Zhang3Yuming Yin4School of Automobile and Traffic Engineering, Liaoning University of Technology, Jinzhou 121001, Liaoning, ChinaSchool of Automobile and Traffic Engineering, Liaoning University of Technology, Jinzhou 121001, Liaoning, ChinaCollege of Science, Liaoning University of Technology, Jinzhou 121001, Liaoning, ChinaSchool of Automobile and Traffic Engineering, Liaoning University of Technology, Jinzhou 121001, Liaoning, ChinaSchool of Vehicle and Transportation, Tsinghua University, Beijing, ChinaTo improve the accuracy and timeliness of the trajectory tracking control of the driverless racing car during the race, this paper proposes a track tracking control method that integrates the rear wheel differential drive and the front wheel active steering based on optimal control theory and fuzzy logic method. The model of the lateral track tracking error of the racing car is established. The model is linearized and discretized, and the quadratic optimal steering control problem is constructed. Taking advantage of the differential drive of dual-motor-driven racing car, the dual motors differential drive fuzzy controller is designed and integrated driving with active steering control. Simulation analysis and actual car verification show that this integrated control method can ensure that the car tracks different race tracks well and improve the track tracking control accuracy by nearly 30%.http://dx.doi.org/10.1155/2021/5549776 |
| spellingShingle | Gang Li Sucai Zhang Lei Liu Xubin Zhang Yuming Yin Trajectory Tracking Control in Real-Time of Dual-Motor-Driven Driverless Racing Car Based on Optimal Control Theory and Fuzzy Logic Method Complexity |
| title | Trajectory Tracking Control in Real-Time of Dual-Motor-Driven Driverless Racing Car Based on Optimal Control Theory and Fuzzy Logic Method |
| title_full | Trajectory Tracking Control in Real-Time of Dual-Motor-Driven Driverless Racing Car Based on Optimal Control Theory and Fuzzy Logic Method |
| title_fullStr | Trajectory Tracking Control in Real-Time of Dual-Motor-Driven Driverless Racing Car Based on Optimal Control Theory and Fuzzy Logic Method |
| title_full_unstemmed | Trajectory Tracking Control in Real-Time of Dual-Motor-Driven Driverless Racing Car Based on Optimal Control Theory and Fuzzy Logic Method |
| title_short | Trajectory Tracking Control in Real-Time of Dual-Motor-Driven Driverless Racing Car Based on Optimal Control Theory and Fuzzy Logic Method |
| title_sort | trajectory tracking control in real time of dual motor driven driverless racing car based on optimal control theory and fuzzy logic method |
| url | http://dx.doi.org/10.1155/2021/5549776 |
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