Look-ahead Path Information based Receding Horizon Control for Backing-up Tractor-Trailer Systems
On account of the backing-up tractor-trailer system with an off-axle connection, a mixed logical dynamics (MLD) approach and a receding horizon control (RHC) method have been addressed respectively for the purpose of modeling and control of such system. At first, Lyapunov theory is used to analyze the motion characteristics of the tractor-trailer system. Then, MLD approach is proposed to describe the kinematic of the tractor-trailer system. For the resulting MLD model, an extended cost function with quadratic form is addressed. To minimize the tracking error of the trailer, and smooth the behavior of the steering angle, an equivalent linear quadratic tracking problem is presented. In view of this problem, an explicit RHC controller is designed considering a look-ahead path information with finite horizon, by employing the multi-parametric mixed-integer quadratic programming (mp-MIQP) technique. Finally, the controller is evaluated through simulation, and achieves a desirable performance, even under the tracking of a non-smooth reference path.
Tractor-Trailer System Path Tracking Receding Horizon Control Mixed Logical Dynamics
BIN Yang SHIM Taehyun FENG Nenglian
College of Environmental and Energy Engineering, Beijing University of Technology, Beijing 100190, C Department of Mechanical Engineering, University of Michigan-Dearborn, Dearborn, MI 48128, USA
国际会议
The 31st Chinese Control Conference(第三十一届中国控制会议)
合肥
英文
4201-4206
2012-07-01（万方平台首次上网日期，不代表论文的发表时间）