期刊
IEEE-ASME TRANSACTIONS ON MECHATRONICS
卷 26, 期 2, 页码 645-656出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2021.3057898
关键词
Agricultural machinery; Vehicle dynamics; Dynamics; Kinematics; Trajectory; Force; Wheels; Dynamic modeling; force compensation; full-size autonomous tractor– trailers vehicle; industrial application; Lyapunov-based controller; trajectory tracking
类别
资金
- InnoHK Clusters via Hong Kong Center for Logistics Robotics
- National Key Research and Development Program of China [2018YFB1309300]
- VC Fund of the CUHK T Stone Robotics Institute [4930745]
This article introduces the dynamic modeling and trajectory tracking control of industrial tractor-trailers, proposing to simplify the model by monitoring the forces exerted on the tractor in real time. A Lyapunov-based trajectory tracking controller is developed to online compensate the forces and drive the tractor onto the desired trajectory, with robustness and accuracy verified through practical implementations on a full-scale industrial tractor towing several full trailers.
This article presents the dynamic modeling and trajectory tracking control of the industrial tractor-trailers vehicle composed of a full-size car-like tractor and multiple full trailers. To eliminate the high uncertainty of the kinematic and dynamic parameters of the trailers in the model, we propose to install a force sensor to monitor the forces exerted on the tractor in real time. With the force measurements, the tractor can be considered separately and the dynamic model is significantly simplified. The inaccurate parameters and varying configurations of the trailers can all be ignored, whereas their dynamic effects on the tractor are still precisely captured. A Lyapunov-based trajectory tracking controller is proposed to online compensate the forces and drive the tractor onto the desired trajectory. The controller is developed using backstepping techniques and the stability is rigorously proved. The performance is illustrated with practical implementations on a full-scale industrial tractor towing several full trailers. The robustness and accuracy of the controller with force compensation are verified with different trailer settings. Implementation results show that applying the simplified model has generally superior performance than using the whole-vehicle model.
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