Path tracking control of tracked vehicles

Author

Ahmad, Mohiuddin ; Polotski, V. ; Hurteau, R.

Author_Institution

Dept. of Electr. & Comput. Eng., Ecole Polytech., Montreal, Que., Canada

Volume

3

fYear

2000

fDate

2000

Firstpage

2938

Abstract

A path tracking control algorithm for tracked surface drilling machines is presented. The general dynamic model of such vehicle is simulated including track-soil interactions. The controller is based on feedback linearization of the equations with feedforward friction compensation. It linearizes the complex force-slip relationship to relate the states of the system to the inputs. The controller based on simplified models is applied to the detailed simulated model of the vehicle. The result is an accurate control of the lateral offset and forward velocity error along a path

Keywords

compensation; dynamics; feedback; friction; linearisation techniques; mining; position control; tracking; vehicles; dynamic model; feedback; force-slip relationship; friction compensation; linearization; mining; path tracking control; surface drilling machines; tracked vehicles; Automatic control; Drilling machines; Equations; Error correction; Force control; Friction; Mobile robots; Remotely operated vehicles; Vehicle dynamics; Velocity control;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on

Conference_Location

San Francisco, CA

ISSN

1050-4729

Print_ISBN

0-7803-5886-4

Type

conf

DOI

10.1109/ROBOT.2000.846474

Filename

846474