NDLI: Path tracking control of a self-driving wheel excavator via an enhanced data-driven model-free adaptive control approach

Content Provider	IET Digital Library
Author	Liu, Shida Hou, Zhongsheng Tian, Taotao Deng, Zhidong Guo, Lei
Abstract	In this work, an enhanced model-free adaptive control algorithm considering the time delay (EMFAC-TD) is proposed for a class of multi-input and multi-output systems and is further applied to the path tracking control problem of a self-driving wheel excavator. First, a preview-deviation-yaw-based method is first proposed for the simplification of excavator dynamics. Then, based on the simplified dynamics, the EMFAC-TD controller is designed via a novel dynamical linearisation technique with a time-varying parameter termed pseudo Jacobian matrix, which contains the coupling information of the excavator driving dynamics. Moreover, for the time delay of the excavator, EMFAC-TD method also handles it by introducing the Smith estimating method. The main feature of the proposed EMFAC-TD is that the controller is designed only based on the input and output data of the excavator. Further, the stability of the proposed EMFAC-TD is proved via rigorous mathematical analysis. The experimental results implemented on a real self-driving excavator show that the maximum tracking error of the excavator controlled via EMFAC-TD method can be limited as 0.3–0.7 m for different driving tasks, satisfying the practical requirement. The experimental results verify that EMFAC-TD method can improve the tracking performance and complete the required task successfully.
Starting Page	220
Ending Page	232
Page Count	13
ISSN	17518644
Volume Number	14
e-ISSN	17518652
Issue Number	Issue 2, Jan (2020)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cta/14/2
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2018.5493
Journal	IET Control Theory & Applications
Publisher Date	2019-10-07
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Adaptive Control Algebra Control Application to Materials Handling Control System Analysis Control System Synthesis Driving Tasks Dynamical Linearisation Technique EMFAC-TD Method Enhanced Data-driven Model-free Adaptive Control Approach Excavator Driving Dynamics Excavator Dynamics Excavators Jacobian Matrix Linearisation Technique Material Handling Equipment Maximum Tracking Error Motion Control Multiinput And Multioutput System Nonlinear Control System Output Data Path Tracking Control Problem Position Control Preview-deviation-yaw-based Method PseudoJacobian Matrix Self Adjusting Control System Smith Estimating Method Spatial Variables Control Stability Stability in Control Theory Synthesis Method Time Delay Time Varying Control System Time Varying System Time-varying Parameter Tracking Wheel Excavator
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Human-Computer Interaction Electrical and Electronic Engineering Computer Science Applications

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
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
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Model-free adaptive control method for a class of unknown MIMO systems with measurement noise and application to quadrotor aircraft

Robust model-free adaptive iterative learning formation for unknown heterogeneous non-linear multi-agent systems

Improved data driven model free adaptive constrained control for a solid oxide fuel cell

Transient stability enhancement control of power systems with time-varying constraints

Adaptive estimation-based TILC for the finite-time consensus control of non-linear discrete-time MASs under directed graph

Robust iterative learning control for batch processes with input delay subject to time-varying uncertainties

Data-driven-based event-triggered tracking control for non-linear systems with unknown disturbance

Switching tracking control for linear time-invariant systems without overshoot: a positive systems method

Towards Autonomous Driving: Review and Perspectives on Configuration and Control of Four-Wheel Independent Drive/Steering Electric Vehicles

Path tracking control of a self-driving wheel excavator via an enhanced data-driven model-free adaptive control approach

Similar Documents

Model-free adaptive control method for a class of unknown MIMO systems with measurement noise and application to quadrotor aircraft

Robust model-free adaptive iterative learning formation for unknown heterogeneous non-linear multi-agent systems

Improved data driven model free adaptive constrained control for a solid oxide fuel cell

Transient stability enhancement control of power systems with time-varying constraints

Adaptive estimation-based TILC for the finite-time consensus control of non-linear discrete-time MASs under directed graph

Robust iterative learning control for batch processes with input delay subject to time-varying uncertainties

Data-driven-based event-triggered tracking control for non-linear systems with unknown disturbance

Switching tracking control for linear time-invariant systems without overshoot: a positive systems method

Towards Autonomous Driving: Review and Perspectives on Configuration and Control of Four-Wheel Independent Drive/Steering Electric Vehicles

Path tracking control of a self-driving wheel excavator via an enhanced data-driven model-free adaptive control approach