LQR-GA Controller for Articulated Dump Truck Path Tracking System

doi:10.1007/s12204-018-2012-z

摘要/Abstract

摘要： This paper designs a novel controller to improve the path-tracking performance of articulated dump truck (ADT). By combining linear quadratic regulator (LQR) with genetic algorithm (GA), the designed controller is used to control linear and angular velocities on the midpoint of the front frame. The novel controller based on the error dynamics model is eventually realized to track the path high-precisely with constant speed. The results of simulation and experiment show that the LQR-GA controller has a better tracking performance than the existing methods under a low speed of 3m/s. In this paper, kinematics model and simulation control models based on co-simulation of ADAMS and Matlab/Simulink are established to verify the proposed strategy. In addition, a real vehicle experiment is designed to further more correctness of the conclusion. With the proposed controller and considering the steering model in the simulation, the control performance is improved and matches the actual situation better. The research results contribute to the development of automation of ADT.

关键词: articulated dump truck (ADT), path tracking, steering analysis, linear quadratic regulator (LQR), genetic algorithm (GA), controller

Abstract: This paper designs a novel controller to improve the path-tracking performance of articulated dump truck (ADT). By combining linear quadratic regulator (LQR) with genetic algorithm (GA), the designed controller is used to control linear and angular velocities on the midpoint of the front frame. The novel controller based on the error dynamics model is eventually realized to track the path high-precisely with constant speed. The results of simulation and experiment show that the LQR-GA controller has a better tracking performance than the existing methods under a low speed of 3m/s. In this paper, kinematics model and simulation control models based on co-simulation of ADAMS and Matlab/Simulink are established to verify the proposed strategy. In addition, a real vehicle experiment is designed to further more correctness of the conclusion. With the proposed controller and considering the steering model in the simulation, the control performance is improved and matches the actual situation better. The research results contribute to the development of automation of ADT.

Key words: articulated dump truck (ADT), path tracking, steering analysis, linear quadratic regulator (LQR), genetic algorithm (GA), controller

中图分类号:

TP 273.1

MENG Yu *(孟宇), GAN Xin (甘鑫), WANG Yu (汪钰), GU Qing (顾青). LQR-GA Controller for Articulated Dump Truck Path Tracking System[J]. Journal of Shanghai Jiao Tong University (Science), 2019, 24(1): 78-85.

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