Sliding mode control algorithm for path tracking of articulated dump truck

• Published in: Nong ye gong cheng xue bao Vol. 31; no. 10; pp. 198 - 203
• Main Authors: Zhao, Xuan, Yang, Jue, Zhang, Wenming, Zeng, Jun
• Format: Journal Article
• Language: Chinese
• Published: 15.05.2015
• Subjects: Algorithms; Dynamics; Error analysis; Errors; Path tracking; Sliding mode control; Systems stability; Trucks
• ISSN: 1002-6819
• DOI: 10.11975/j.issn.1002-6819.2015.10.026

In this paper, a path tracking strategy is proposed for the ASVs on the basis of sliding mode control (SMC). The kinematic model of the ASV is derived neglecting the vehicle dynamics. Three measurable errors are defined to indicate the deviation of real path from reference path, i.e. lateral displacement error, orientation error and curvature error. These errors serve as the inputs in order to synthesize the SMC. Lyapunov function is then utilized in order to assess the system stability. The results suggest that the simulated vehicle path is smooth and almost identical to the reference path. The 3 kinds of errors achieve steady state in 10 s. The proposed SMC controller is then demonstrated to be robust even neglecting the vehicle dynamics. The results also suggest that the SMC with Ackermann's formula can fulfill the prescribed request of the dynamic and the steady performance.