A H_ control for path tracking with fuzzy hyperbolic tangent model

DOI10.1155/2016/9072831MaRDI QIDQ1788541zbMATH OpenOpenAlexWikidataFDO

Authors Yanyan Li

Publication date 8 October 2018

Published in Journal of Control Science and Engineering (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://doi.org/10.1155/2016/9072831

zbMATH Keywords

\(H_\infty\) controlasymptotic stabilitydriver-less underground mining truckfuzzy hyperbolic tangent modelpath tracking

Mathematics Subject Classification ID

Controllability (93B05) (H^infty)-control (93B36) Fuzzy control/observation systems (93C42) Application models in control theory (93C95) Asymptotic stability in control theory (93D20)

Review text

Summary: To achieve the goal of driver-less underground mining truck, a fuzzy hyperbolic tangent model is established for path tracking on an underground articulated mining truck. Firstly, the sample data of parameters are collected by the driver controlling articulated vehicle at a speed of 3\,m/s, including both the lateral position deviation and the variation of heading angle deviation. Then, according to the improved adaptive BP neural network model and deriving formula of mediation rate of error estimator by the method of Cauchy robust, the weights are identified. Finally, \(H_\infty\) control controller is designed to control steering angle. The results of hardware-in-the-loop simulation show that lateral position deviation, heading angle deviation, and steering angle of the vehicle can be controlled, respectively, at 0.024\,m, 0.08\,rad, and 0.21\,rad. All the deviations are asymptotically stable, and error control is in less than 2\%. The method is demonstrated to be effective and reliable in path tracking for the underground vehicles.

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Cites work

• Controller Design for a Manipulator Using Theory of Variable Structure Systems
• Fuzzy identification of systems and its applications to modeling and control
• Research on fuzzy hyperbolic tangent model: a review
• Robust Stability and Diagonal Liapunov Functions

Cited in

(1)

• A novel relative navigation control strategy based on relation space method for autonomous underground articulated vehicles

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