NDLI: Path following control of an off-road track vehicle towing a steerable driven implement

Content Provider	IEEE Xplore Digital Library
Author	Taghia, J. Lam, S. Katupitiya, J.
Copyright Year	2015
Description	Author affiliation: Sch. of Mech. & Manuf. Eng., Univ. of New South Wales, Sydney, NSW, Australia (Taghia, J.; Lam, S.; Katupitiya, J.)
Abstract	In this paper, nonlinear controllers are designed for an accurate path-following of a track vehicle towing an active implement, which is steered and driven, in off-road terrains like farms where longitudinal and lateral slips at front tracks and rear steerable wheels are inevitable. These controllers are based on path offset values and a partial dynamic model. The controller is designed to minimize the lon-gitudinal force at the hitch point and steer the track vehicle and the implement's wheels for an accurate path-following. Error vectors are introduced to combine the measured longitudinal force at the hitch point and the path offset values for both the track vehicle and the implement. Afterwards, two pairs of virtual states are introduced and nonlinear contracting sliding mode controllers are designed to control the error values. The two cases of the track vehicle without the implement control and the track vehicle with the implement control are compared using dynamic simulations. The results show improvements in the path-following accuracy and the drivability of the whole system when the track vehicle control and the steering and drive force controller of the implement is enabled on simulated off-road terrains.
Sponsorship	IEEE Ind. Electron. Soc. (IES)
Starting Page	713
Ending Page	718
File Size	494116
Page Count	6
File Format	PDF
e-ISBN	9781467391078
DOI	10.1109/AIM.2015.7222621
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-07-07
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vehicles Force Wheels Vehicle dynamics Kinematics Dynamics Noise
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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