Aiming at the trajectory tracking steering angle control problem of unmanned intelligent sweeper, the unknown parameters of sweeper system were considered, and an improved data-driven model-free adaptive control scheme was proposed. Specifically, under the given driving path, the trajectory tracking control problem of unmanned vehicle was transformed into the tracking control problem of pre-sighting deviation angle. Based on input and output data, a dynamic linearized data model for the transverse control of sweeping car was established. An time-varying proportional control item was added to the steering angle control rate. Then an improved MFAC trajectory tracking control scheme was designed and its convergence was proved. Simulation results show that: the trajectory tracking control scheme based on improved MFAC has strong adaptability and portability for trajectory tracking of different intelligent sweeping vehicle in different driving environments, with high tracking accuracy and tracking performance.


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    Title :

    Track Tracking Control of Unmanned Intelligent Sweeping Vehicles Based on Improved MFAC


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:
    Jia, Yingmin (editor) / Zhang, Weicun (editor) / Fu, Yongling (editor) / Yao, Wenlong (author) / Pang, Zhen (author) / Chi, Ronghu (author) / Shao, Wei (author)

    Conference:

    Chinese Intelligent Systems Conference ; 2020 ; Shenzhen City, China October 24, 2020 - October 25, 2020



    Publication date :

    2020-09-30


    Size :

    10 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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