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.


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    Title :

    Feedback Linearization Control for Path Tracking of Articulated Dump Truck



    Publication date :

    2015-09-01


    Remarks:

    doi:10.12928/telkomnika.v13i3.1810
    TELKOMNIKA (Telecommunication Computing Electronics and Control); Vol 13, No 3: September 2015; 922-929 ; 2302-9293 ; 1693-6930 ; 10.12928/telkomnika.v13i3



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629




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