Mine truck trajectory tracking based on road adaptive model predictive control

被引：0
|
作者：
Yang C.-Y. [1 ]
Chen J.-Y. [1 ]
Zhang X. [1 ]
Tang C.-Q. [2 ]
机构：
[1] School of Information and Control Engineering, China University of Mining and Technology, Jiangsu, Xuzhou
[2] School of Mechatronic Engineering, China University of Mining and Technology, Jiangsu, Xuzhou
来源：
Kongzhi Lilun Yu Yingyong/Control Theory and Applications | 2023年 / 40卷 / 06期
基金：
中国国家自然科学基金;
关键词：
adaptive predictive control; mine trucks; road adhesion coefficient estimation; trackion control; trajectory tracking;
D O I：
10.7641/CTA.2022.20129
中图分类号：
学科分类号：
摘要：
In order to eliminate the influence of road parameters uncertainty in mine truck trajectory tracking, this paper proposes a road-adaptive trajectory tracking controller based on the adaptive control and model predictive control. Firstly, the dynamics model of the mining truck and the environmental model of the mining road are established respectively according to the common mining trucks’ type and the of the sudden change of the environment. Secondly, the framework of mine truck trajectory tracking based on the road adaptive model predictive control is proposed. Thirdly, a least-squares parameter estimation method based on the autonomous switching strategy is proposed to make reasonable recursion for sudden-changed road conditions. Finally, a mine truck trajectory tracking based on the road adaptive model predictive control is proposed. The simulation results show that the proposed method has higher trajectory tracking accuracy than the traditional adaptive model predictive control method. The method can fully consider the road conditions in mining areas with uncertainty parameters and sudden changes, and adaptively ensures the handling stability of the mining truck. © 2023 South China University of Technology. All rights reserved.
引用
收藏
页码：1061 / 1068
页数：7
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