To address the problem that traditional control methods usually ignore the fine-grained control of the degree of steering with non-prescribed steering radius, which results in large tracking errors in the control of the tracked vehicle at medium and high speeds, this paper proposes a lateral control method for tracked vehicles based on the backstepping method and adaptive neural networks. Firstly, a transient dynamics model is established for the steering with Non-prescribed steering radius of the tracked vehicle; then a tracking error model is introduced and the backstepping method is used to calculate the target angular velocity at which the position error and heading error converge to zero at the same time; finally, the adaptive neural network is used to track the angular velocity to achieve the control purpose. Simulation results show that the backstepping adaptive neural network control method proposed in this paper has higher control accuracy and lower joystick pull frequency under the path of variable curvature curve type. The overall control effect is significantly better than the PID control method.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Lateral Control Method of Tracked Vehicle Based on Backstepping Method and Adaptive Neural Network


    Weitere Titelangaben:

    Lect. Notes Electrical Eng.


    Beteiligte:
    Qu, Yi (Herausgeber:in) / Gu, Mancang (Herausgeber:in) / Niu, Yifeng (Herausgeber:in) / Fu, Wenxing (Herausgeber:in) / Wang, Tao (Autor:in) / Li, Yukang (Autor:in) / Liu, Wenxue (Autor:in)

    Kongress:

    International Conference on Autonomous Unmanned Systems ; 2023 ; Nanjing, China September 09, 2023 - September 11, 2023



    Erscheinungsdatum :

    27.04.2024


    Format / Umfang :

    13 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch





    Autonomous driving control method for tracked vehicle, controller for tracked vehicle, and tracked vehicle

    ANDO HIROAKI / SADAMOTO TAKAHIRO | Europäisches Patentamt | 2023

    Freier Zugriff

    Neural network PID steering control method for hydrostatic drive tracked vehicle

    CHEN MAN / ZHENG CHANGSONG / YU LIANG et al. | Europäisches Patentamt | 2021

    Freier Zugriff

    An Adaptive Neural Network Fault-Tolerant Control Using Backstepping

    Zhu, Z. / Huang, X. | British Library Online Contents | 2010