Research Papers

Dynamic Motion Planning and Adaptive Tracking Control for a Class of Two-Wheeled Autonomous Vehicle With an Underactuated Pendular Suspension

[+] Author and Article Information
Ming Yue

School of Automotive Engineering,
Dalian University of Technology,
Dalian, Liaoning 116024, China
State Key Laboratory of Robotics and System,
Harbin Institute of Technology,
Harbin, Heilongjiang 150001, China
e-mail: yueming@dlut.edu.cn

Xiaojie Sun, Nan Li, Cong An

School of Automotive Engineering,
Dalian University of Technology,
Dalian, Liaoning 116024, China

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received January 15, 2015; final manuscript received May 30, 2015; published online July 14, 2015. Assoc. Editor: Beshah Ayalew.

J. Dyn. Sys., Meas., Control 137(10), 101006 (Oct 01, 2015) (11 pages) Paper No: DS-15-1019; doi: 10.1115/1.4030785 History: Received January 15, 2015; Revised May 30, 2015; Online July 14, 2015

This paper investigates a dynamic motion planning approach and an adaptive tracking control scheme for a class of two-wheeled autonomous vehicle with an underactuated pendular suspension subject to nonholonomic constraint. Compared with the wheeled inverted pendulum system, this kind of two-wheeled pendular suspension (WPS) vehicle is more suitable for autonomous exploration in the complex unstructured environment. By Lagrange principle, a four-independent-coordinate dynamic model, which can describe the multivariate, nonlinear, and underactuated characteristics of the system, is first proposed. Besides, a reduced order dynamic is developed in the following so as to tackle the nonholonomic problem, and then the three-independent-coordinate reduced order dynamic is divided into an actuated part constituted by the rotational subsystem, and an underactuated part combined by the longitudinal and the swing angle subsystems. The sliding mode control (SMC) technique is utilized to construct the controller; especially, a composite sliding mode surface is proposed which can realize the velocity tracking and oscillation suppression for pendular suspension simultaneously. Furthermore, the adaptive mechanism is employed to update the true values of the inaccessible physical parameters which can enhance the adaptability of the WPS vehicle in unstructured environment. In addition, a dynamic motion planning method is presented, by aid of which the vehicle can track an arbitrary trajectory in Cartesian coordinate. The simulation results show the effectiveness and merits of the proposed control approaches.

Copyright © 2015 by ASME
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Fig. 1

A WPS vehicle with a lower gravity center

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Fig. 7

Tracking curves for the desired velocities

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Fig. 8

Responses of tracking errors

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Fig. 9

Control efforts for the tracking system

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Fig. 10

Responses of parameter estimations

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Fig. 11

Practical tracking process

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Fig. 12

Posture tracking errors

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Fig. 13

Response of tilt angle

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Fig. 3

Schematic diagram of the motion planning and system controllers

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Fig. 2

Definition of the tracking error eq

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Fig. 4

Practical trifolium trajectory tracking

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Fig. 5

Posture tracking errors of the WPS vehicle

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Fig. 6

Responses of tilt angle and its velocity

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Fig. 14

Tracking responses for the discontinuous case

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Fig. 15

Tracking errors for the discontinuous case

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Fig. 16

Control efforts for the discontinuous case

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Fig. 17

Parameter estimations




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