Accurate tracking control of autonomous cooperative transportation systems (CTS) remains challenging owing to the complexity of the mechanisms and the high requirements of coordination between carriers. In this paper, the trajectory tracking control of a CTS with a pair of autonomous vehicles serving as carriers is investigated. A novel constraint-oriented hierarchical modeling method is proposed to describe the dynamics of the system. By dividing the system dynamics into two portions: the lower-level individual modeling and the upper-level constraints abstraction, the modeling process is significantly simplified. Then an innovative constraint-following control law is designed to address the tracking control problem under the special system topology, based on the internal and external constraints designed in the modeling process. The asymptotic convergence of the tracking error is theoretically guaranteed. To reduce potential damage of the payload during transportation, a payload force optimization method is creatively proposed. It relies on the closed-form relationship between the control input and payload forces established by the constraint-oriented modeling. The normal and shear stress on the payload is successfully limited, without affecting the trajectory tracking performance. Simulation results show that the proposed control method and the payload force optimization strategy can help achieve accurate and safe autonomous cooperative transportation simultaneously.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Accuracy and Safety: Tracking Control of Heavy-Duty Cooperative Transportation Systems Using Constraint-Following Method


    Contributors:
    Zhang, Bowei (author) / Chen, Ye-Hwa (author) / Jia, Yifan (author) / Huang, Jin (author) / Yang, Diange (author) / Zhong, Zhihua (author)


    Publication date :

    2024-05-01


    Size :

    4967962 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




    Heavy-duty safety

    True, C.R. | Engineering Index Backfile | 1942



    Heavy-duty truck control: short inter-vehicle distance following

    Lu, X.Y. / Shladover, S. / Hedrick, J.K. | Tema Archive | 2004


    Intelligent heavy-duty drone control system for urban logistics and transportation

    LIM HEON YOUNG / KWON YOUNG OK / SONG JAE WON | European Patent Office | 2023

    Free access