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.
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 Jiaotong University(Science), 2019
, 24(1)
: 78
-85
.
DOI: 10.1007/s12204-018-2012-z
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