Back to Search
Start Over
Path Tracking Control of an Articulated Road Roller With Sideslip Compensation
- Source :
- IEEE Access, Vol 8, Pp 127981-127992 (2020)
- Publication Year :
- 2020
- Publisher :
- IEEE, 2020.
-
Abstract
- Unmanned road roller has become an attractive solution to reduce operators’ working intensity and improve compaction efficiency. As a result of working in bumpy environments, sideslip effect is unavoidable during the compacting process. In order to guarantee the reliability and stability of path tracking control, a novel and effective method based on preview control and sideslip compensation is proposed in this paper. The kinematic and dynamic models of articulated road roller considering sideslip angles are obtained first. Then, a preview controller with sideslip compensation (PCSC) is developed to eliminate the path tracking errors between the actual path and the desired path. To evaluate the control performance of the proposed method, simulation under the MATLAB/Simulink and automatic compaction experiments at the construction site were performed with initial errors. Finally, the simulation and experimental results show that the path tracking errors can converge to zero as time goes by. The proposed method has the ability to navigate an articulated road roller to track a desired path in the existence of sideslip, only regarding the steering angle dynamic as control input. Compared with other benchmark method, it not only improves the control accuracy, but also increases the convergence rate, proving its effectiveness and feasibility. All these also demonstrate the practical value and validity of the proposed models with sideslip.
- Subjects :
- sideslip compensation
0209 industrial biotechnology
General Computer Science
Computer science
preview control
020208 electrical & electronic engineering
General Engineering
Process (computing)
articulated road roller
02 engineering and technology
Kinematics
Compensation (engineering)
020901 industrial engineering & automation
Control theory
Path (graph theory)
Path tracking
0202 electrical engineering, electronic engineering, information engineering
Benchmark (computing)
General Materials Science
lcsh:Electrical engineering. Electronics. Nuclear engineering
lcsh:TK1-9971
Slip (aerodynamics)
Subjects
Details
- Language :
- English
- ISSN :
- 21693536
- Volume :
- 8
- Database :
- OpenAIRE
- Journal :
- IEEE Access
- Accession number :
- edsair.doi.dedup.....e44e50d114cb581120d6edec3aab0061