A H-Infinity Control for Path Tracking with Fuzzy Hyperbolic Tangent Model
To achieve the goal of driver-less underground mining truck, a fuzzy hyperbolic tangent model is established for path tracking on an underground articulated mining truck. Firstly, the sample data of parameters are collected by the driver controlling articulated vehicle at a speed of 3 m/s, including...
Saved in:
| Main Authors: | , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Wiley
2016-01-01
|
| Series: | Journal of Control Science and Engineering |
| Online Access: | http://dx.doi.org/10.1155/2016/9072831 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1850218510294188032 |
|---|---|
| author | Guangsi Shi Jue Yang Xuan Zhao Yanfeng Li Yalun Zhao Jian Li |
| author_facet | Guangsi Shi Jue Yang Xuan Zhao Yanfeng Li Yalun Zhao Jian Li |
| author_sort | Guangsi Shi |
| collection | DOAJ |
| description | To achieve the goal of driver-less underground mining truck, a fuzzy hyperbolic tangent model is established for path tracking on an underground articulated mining truck. Firstly, the sample data of parameters are collected by the driver controlling articulated vehicle at a speed of 3 m/s, including both the lateral position deviation and the variation of heading angle deviation. Then, according to the improved adaptive BP neural network model and deriving formula of mediation rate of error estimator by the method of Cauchy robust, the weights are identified. Finally, H-infinity control controller is designed to control steering angle. The results of hardware-in-the-loop simulation show that lateral position deviation, heading angle deviation, and steering angle of the vehicle can be controlled, respectively, at 0.024 m, 0.08 rad, and 0.21 rad. All the deviations are asymptotically stable, and error control is in less than 2%. The method is demonstrated to be effective and reliable in path tracking for the underground vehicles. |
| format | Article |
| id | doaj-art-36db1e8d6d5f432d8a95080250119e8e |
| institution | OA Journals |
| issn | 1687-5249 1687-5257 |
| language | English |
| publishDate | 2016-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Control Science and Engineering |
| spelling | doaj-art-36db1e8d6d5f432d8a95080250119e8e2025-08-20T02:07:41ZengWileyJournal of Control Science and Engineering1687-52491687-52572016-01-01201610.1155/2016/90728319072831A H-Infinity Control for Path Tracking with Fuzzy Hyperbolic Tangent ModelGuangsi Shi0Jue Yang1Xuan Zhao2Yanfeng Li3Yalun Zhao4Jian Li5School of Mechanical Engineering, University of Science & Technology Beijing, Beijing 100083, ChinaSchool of Mechanical Engineering, University of Science & Technology Beijing, Beijing 100083, ChinaSchool of Mechanical Engineering, University of Science & Technology Beijing, Beijing 100083, ChinaSchool of Mechanical Engineering, University of Science & Technology Beijing, Beijing 100083, ChinaSchool of Mechanical Engineering, University of Science & Technology Beijing, Beijing 100083, ChinaSchool of Mechanical Engineering, University of Science & Technology Beijing, Beijing 100083, ChinaTo achieve the goal of driver-less underground mining truck, a fuzzy hyperbolic tangent model is established for path tracking on an underground articulated mining truck. Firstly, the sample data of parameters are collected by the driver controlling articulated vehicle at a speed of 3 m/s, including both the lateral position deviation and the variation of heading angle deviation. Then, according to the improved adaptive BP neural network model and deriving formula of mediation rate of error estimator by the method of Cauchy robust, the weights are identified. Finally, H-infinity control controller is designed to control steering angle. The results of hardware-in-the-loop simulation show that lateral position deviation, heading angle deviation, and steering angle of the vehicle can be controlled, respectively, at 0.024 m, 0.08 rad, and 0.21 rad. All the deviations are asymptotically stable, and error control is in less than 2%. The method is demonstrated to be effective and reliable in path tracking for the underground vehicles.http://dx.doi.org/10.1155/2016/9072831 |
| spellingShingle | Guangsi Shi Jue Yang Xuan Zhao Yanfeng Li Yalun Zhao Jian Li A H-Infinity Control for Path Tracking with Fuzzy Hyperbolic Tangent Model Journal of Control Science and Engineering |
| title | A H-Infinity Control for Path Tracking with Fuzzy Hyperbolic Tangent Model |
| title_full | A H-Infinity Control for Path Tracking with Fuzzy Hyperbolic Tangent Model |
| title_fullStr | A H-Infinity Control for Path Tracking with Fuzzy Hyperbolic Tangent Model |
| title_full_unstemmed | A H-Infinity Control for Path Tracking with Fuzzy Hyperbolic Tangent Model |
| title_short | A H-Infinity Control for Path Tracking with Fuzzy Hyperbolic Tangent Model |
| title_sort | h infinity control for path tracking with fuzzy hyperbolic tangent model |
| url | http://dx.doi.org/10.1155/2016/9072831 |
| work_keys_str_mv | AT guangsishi ahinfinitycontrolforpathtrackingwithfuzzyhyperbolictangentmodel AT jueyang ahinfinitycontrolforpathtrackingwithfuzzyhyperbolictangentmodel AT xuanzhao ahinfinitycontrolforpathtrackingwithfuzzyhyperbolictangentmodel AT yanfengli ahinfinitycontrolforpathtrackingwithfuzzyhyperbolictangentmodel AT yalunzhao ahinfinitycontrolforpathtrackingwithfuzzyhyperbolictangentmodel AT jianli ahinfinitycontrolforpathtrackingwithfuzzyhyperbolictangentmodel AT guangsishi hinfinitycontrolforpathtrackingwithfuzzyhyperbolictangentmodel AT jueyang hinfinitycontrolforpathtrackingwithfuzzyhyperbolictangentmodel AT xuanzhao hinfinitycontrolforpathtrackingwithfuzzyhyperbolictangentmodel AT yanfengli hinfinitycontrolforpathtrackingwithfuzzyhyperbolictangentmodel AT yalunzhao hinfinitycontrolforpathtrackingwithfuzzyhyperbolictangentmodel AT jianli hinfinitycontrolforpathtrackingwithfuzzyhyperbolictangentmodel |