This paper proposes a layered controller that integrates preview model, backstepping control algorithm, and differential compensation structure to enhance the performance of tracking control for the tracked vehicle. The controller considers the variable preview distance control strategy, differential compensation control strategy, and the impact of platform computing power limitations on tracking performance. Specifically this controller can comprise an inner and an outer control loop. The inner control loop utilizes a differential compensation controller to enhance the synchronization and anti-interference ability of the two drive motors. The outer control loop leverages the predictive ability of the preview model and the strong robustness of the backstepping controller, which achieves good tracking performance for the reference path and stability for nonlinear error model mismatch. The simulation and test results demonstrate that the proposed control method reduces the lateral position error and heading angle error during the tracking process at different vehicle speeds, thereby improving tracking accuracy. This improvement effect is more apparent at high speeds compared to traditional path tracking control methods.
Path Tracking of Tracked Vehicle with Variable Preview Distance and Differential Compensation
16.10.2023
1804524 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
Preview suspension control for a full tracked vehicle
British Library Online Contents | 2014
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