Feedback Linearization Control for Path Tracking of Articulated Dump Truck
Abstract: The articulated dump
truck is a widespread tansport vehicle for narrow rough terrain environment. To
achieve the autonomous driving in the underground tunnel, this ariticle
proporses a path following strategy of articulated vehicle based on feedback
linearization algorithm. Fisrt of all, the articulated vehicle kinematics
model, which reflects the relationship of the structure parameters and state
variables, is established. Refering to the model, the nonlinear errors equation
between real path and reference path, which are as the feedback from the path
tracking process, is solved and linearized. After estimating the system
controllable, according to the error equation, the path following controller
with feedback linearization algorithm is designed through calaculating the
parameters with the pole assignment. Finally, the hardware in the loop
simulation on NI cRIO and PXI controller is lunched for verifying the control
quality and real-time path tracking performance.
Author: Xuan Zhao, Jue Yang,
Wenming Zhang, Jun Zeng
Journal Code: jptkomputergg150131
