Straight-line Tracking Control Research Articles

Straight-line tracking controller design of agricultural tractors based on third-order sliding mode

This article aims at solving the straight-line tracking control problem of agricultural tractors in the presence of negative influences induced by unknown disturbances. Firstly, the path tracking dynamics model with unknown disturbance is established, and then it is further converted into a third-order sliding mode (TOSM) dynamics that facilitates control design. On this basis, a straight-line tracking control strategy for agricultural tractors is proposed by using TOSM. It is demonstrated by strict Lyapunov analysis that the lateral error and heading deviation are stabilized to the origin in a finite time. Finally, the comparative simulation results show that the proposed path-tracking algorithm can achieve the control objective of straight-line tracking of agricultural tractors.

Design of Strait-Line Tracking Controller of Under-Actuated USV Based on Back-Stepping Method and Feedback Compensation

Unmanned surface vehicle (USV) system has been one of main research directions in mobile robotics because it can be used in many situations. However, high performance path following control, especially straight line tracking control, has been one of the difficult problems in autonomous control of USV system. In this paper, we propose a new straight line path following control algorithm by combining yaw angle feedback and back-stepping technique and show its closed loop stability. The most absorbing advantage of the proposed controller is that it not only reserve the good performance of back-stepping controller but also bring much faster convergent rate, which is very important in real applications. The simulation results with respect to a training ship model have shown the feasibility and validity of the proposed method.

Trajectory tracking control for navigation of the inverse pendulum type self-contained mobile robot

Abstract In this paper, we discuss the trajectory control for a wheeled inverse pendulum type mobile robot. The robot has two independent driving wheels on the same axle, and a gyro type sensor to measure the inclination angular velocity of the body and rotary encoders to measure wheel rotation. The purpose of this work is to make a robot autonomously navigate in a plane while keeping its own balance. The control algorithm consists of three parts: balance and velocity control, steering control and straight line tracking control. We designed and implemented a vehicle command system for such robot to control using the proposed algorithm. Experiments of the navigation in a real indoor environment have been performed using our experimental robot “Yamabico Kurara”.