Trajectory Tracking of Autonomous Ground Vehicles with Actuator Dead Zones
This paper investigates the trajectory tracking problem of autonomous ground vehicles (AGVs). The dynamics considered feature external disturbances, model uncertainties, and actuator dead zones. First, a novel time-varying yaw guidance law is proposed based on the line of sight method. By a state tr...
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| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2021-01-01
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| Series: | International Journal of Computer Games Technology |
| Online Access: | http://dx.doi.org/10.1155/2021/2914190 |
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| _version_ | 1832563050192830464 |
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| author | Pengfei Zhang Qiyuan Chen Tingting Yang |
| author_facet | Pengfei Zhang Qiyuan Chen Tingting Yang |
| author_sort | Pengfei Zhang |
| collection | DOAJ |
| description | This paper investigates the trajectory tracking problem of autonomous ground vehicles (AGVs). The dynamics considered feature external disturbances, model uncertainties, and actuator dead zones. First, a novel time-varying yaw guidance law is proposed based on the line of sight method. By a state transformation, the AGV is proved to realize trajectory tracking control under the premise of eliminating guidance deviation. Second, a fixed time dead zone compensation control method is introduced to ensure the yaw angle tracking of the presented guidance. Furthermore, an improved fixed-time disturbance observer is proposed to compensate for the influence of the actuator dead zone on disturbance observation. Finally, the trajectory tracking control strategy is designed, and simulation comparison shows the effectiveness of the compensate method. The CarSim–MATLAB cosimulation shows that the proposed control strategy effectively makes the AGV follow the reference trajectory. |
| format | Article |
| id | doaj-art-c9220101f47e473bbd3c3b4bd93e0a22 |
| institution | Kabale University |
| issn | 1687-7055 |
| language | English |
| publishDate | 2021-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | International Journal of Computer Games Technology |
| spelling | doaj-art-c9220101f47e473bbd3c3b4bd93e0a222025-02-03T01:21:09ZengWileyInternational Journal of Computer Games Technology1687-70552021-01-01202110.1155/2021/2914190Trajectory Tracking of Autonomous Ground Vehicles with Actuator Dead ZonesPengfei Zhang0Qiyuan Chen1Tingting Yang2School of EngineeringSchool of EngineeringSchool of EngineeringThis paper investigates the trajectory tracking problem of autonomous ground vehicles (AGVs). The dynamics considered feature external disturbances, model uncertainties, and actuator dead zones. First, a novel time-varying yaw guidance law is proposed based on the line of sight method. By a state transformation, the AGV is proved to realize trajectory tracking control under the premise of eliminating guidance deviation. Second, a fixed time dead zone compensation control method is introduced to ensure the yaw angle tracking of the presented guidance. Furthermore, an improved fixed-time disturbance observer is proposed to compensate for the influence of the actuator dead zone on disturbance observation. Finally, the trajectory tracking control strategy is designed, and simulation comparison shows the effectiveness of the compensate method. The CarSim–MATLAB cosimulation shows that the proposed control strategy effectively makes the AGV follow the reference trajectory.http://dx.doi.org/10.1155/2021/2914190 |
| spellingShingle | Pengfei Zhang Qiyuan Chen Tingting Yang Trajectory Tracking of Autonomous Ground Vehicles with Actuator Dead Zones International Journal of Computer Games Technology |
| title | Trajectory Tracking of Autonomous Ground Vehicles with Actuator Dead Zones |
| title_full | Trajectory Tracking of Autonomous Ground Vehicles with Actuator Dead Zones |
| title_fullStr | Trajectory Tracking of Autonomous Ground Vehicles with Actuator Dead Zones |
| title_full_unstemmed | Trajectory Tracking of Autonomous Ground Vehicles with Actuator Dead Zones |
| title_short | Trajectory Tracking of Autonomous Ground Vehicles with Actuator Dead Zones |
| title_sort | trajectory tracking of autonomous ground vehicles with actuator dead zones |
| url | http://dx.doi.org/10.1155/2021/2914190 |
| work_keys_str_mv | AT pengfeizhang trajectorytrackingofautonomousgroundvehicleswithactuatordeadzones AT qiyuanchen trajectorytrackingofautonomousgroundvehicleswithactuatordeadzones AT tingtingyang trajectorytrackingofautonomousgroundvehicleswithactuatordeadzones |