Abstract
AbstractThis paper presents the experimental results of the tracking control of a Caterpillar Vehicle. The proposed scheme involves three steps: 1, building a model of a Caterpillar Vehicle system with two wheeled vehicle; 2, apply back stepping control method for trajectory tracking of the Caterpillar Vehicle; 3, The model reference adaptive control (MRAC) technique is used to design a controller that ensure the stability of the system. The MRAC technique is used to design a controller that is able to address the effects caused by changes in the desired trajectory reference. The MRAC controller is first evaluated using computer simulations which show that the controller is able to effectively respond to changes in the desired trajectory. The simulation results compare the quality of the two controllers using the back stepping control method and MRAC when the desired trajectory is Straight or curved line. Based on the comparison results, MRAC is proposed to track the desired trajectory.KeywordsTrajectory trackingBack steppingMRAC
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