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Switching model predictive control for an articulated vehicle under varying slip angle
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0002-6894-7896
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0003-0126-1897
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0002-0079-9049
2012 (English)In: 20th IEEE Mediterranean Conference on Control and Automation: Barcelona, Spain, July 3-6, 2012, Piscataway, NJ: IEEE Communications Society, 2012, p. 884-889Conference paper, Published paper (Refereed)
Abstract [en]

In this article a switching model predictive control scheme for an articulated vehicle under varying slip angles is being presented. For the non–holonomic articulated vehicle, the non–linear kinematic model that is able to take under consideration the effect of the slip angles is extracted. This model is transformed to an error dynamics model, which in the sequence is linearized around multiple nominal slip angle cases. The existence of the slip angles has a significant effect on the vehicle’s path tracking capability and can significantly deteriorate the performance of the overall control scheme. Based on the derived multiple error dynamic models, the varying slip angle is being considered as the switching rule and a corresponding switching mode predictive control scheme is being designed that it is also able to take under consideration: a) the constrains on the control signals and b) the state constraints. Multiple simulation results are being presented that prove the efficacy of the overall suggested scheme.

Place, publisher, year, edition, pages
Piscataway, NJ: IEEE Communications Society, 2012. p. 884-889
Keywords [en]
Information technology - Automatic control
Keywords [sv]
Informationsteknik - Reglerteknik
National Category
Control Engineering
Research subject
Control Engineering
Identifiers
URN: urn:nbn:se:ltu:diva-32923DOI: 10.1109/MED.2012.6265751Scopus ID: 2-s2.0-84866929203Local ID: 79426750-8c73-472d-9a51-b0d2c55866a3ISBN: 978-1-4673-2530-1 (print)ISBN: 978-1-4673-2529-5 (electronic)OAI: oai:DiVA.org:ltu-32923DiVA, id: diva2:1006157
Conference
Mediterranean Conference on Control and Automation : 03/07/2012 - 06/07/2012
Note
Godkänd; 2012; 20120402 (geonik)Available from: 2016-09-30 Created: 2016-09-30 Last updated: 2018-07-10Bibliographically approved

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Nayl, ThakerNikolakopoulos, GeorgeGustafsson, Thomas

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