Path Tracking Control for Backing-up Tractor-Trailer System via Model Predictive Control

摘要：

In order to implement the accurate path tracking control for the backing-up tractor-trailer system with off-axle hitching, a new control framework relying on mixed logical dynamics (MLD) hybrid modeling and model predictive control (MPC) method is presented in this paper. At first, a MLD hybrid model is proposed to describe the open-loop kinematic of the tractor-trailer system. For the resulting MLD model, an extended cost function defined as a quadratic form is addressed, in which the steering angle of the tractor, as well as two errors combining the position and the orientation of the trailer are considered. To minimize the tracking error of the trailer, and smooth the steering angle behavior of the tractor, an equivalent linear quadratic tracking problem is presented. Then, a receding horizon finite-time optimal controller is designed, by employing multi-parametric mixed-integer quadratic programming (mp-MIQP) technique. Finally, the controller performance is evaluated through simulation, and achieves closed-loop system asymptotical stability, accurate tracking performance and constraint fulfillment properties, even under the case of non-smooth tracking reference path.

关键词： Tractor-Trailer System Path Tracking Model Predictive Control Mixed Logical Dynamics

作者: Yang BIN Taehyun SHIM Nenglian FENG Dashen ZHOU

作者单位: College of Environmental and Energy Engineering, Beijing University of Technology, Beijing 100124, C Department of Mechanical Engineering, University of Michigan-Dearborn, Dearborn, MI 48128, USA

会议类型: 国际会议

会议名称: The 24th Chinese Control and Decision Conference (第24届中国控制与决策学术年会 2012 CCDC)

会议地点: 太原

会议语种:英文

页码: 198-203

在线出版日期: 2012-05-23（万方平台首次上网日期，不代表论文的发表时间）