Full text

Turn on search term navigation

Copyright © 2021 Pengfei Zhang et al. This is an open access article distributed under the Creative Commons Attribution License (the “License”), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. Notwithstanding the ProQuest Terms and Conditions, you may use this content in accordance with the terms of the License. https://creativecommons.org/licenses/by/4.0/

Abstract

This paper investigates the trajectory tracking problem of autonomous ground vehicles (AGVs). The dynamics considered feature external disturbances, model uncertainties, and actuator dead zones. First, a novel time-varying yaw guidance law is proposed based on the line of sight method. By a state transformation, the AGV is proved to realize trajectory tracking control under the premise of eliminating guidance deviation. Second, a fixed time dead zone compensation control method is introduced to ensure the yaw angle tracking of the presented guidance. Furthermore, an improved fixed-time disturbance observer is proposed to compensate for the influence of the actuator dead zone on disturbance observation. Finally, the trajectory tracking control strategy is designed, and simulation comparison shows the effectiveness of the compensate method. The CarSim–MATLAB cosimulation shows that the proposed control strategy effectively makes the AGV follow the reference trajectory.

Details

Title
Trajectory Tracking of Autonomous Ground Vehicles with Actuator Dead Zones
Author
Zhang, Pengfei 1   VIAFID ORCID Logo  ; Chen, Qiyuan 1 ; Yang, Tingting 1   VIAFID ORCID Logo 

 School of Engineering, Huzhou University, Huzhou 313000, China 
Editor
Yiyu Cai
Publication year
2021
Publication date
2021
Publisher
John Wiley & Sons, Inc.
ISSN
16877047
e-ISSN
16877055
Source type
Scholarly Journal
Language of publication
English
ProQuest document ID
2615861455
Copyright
Copyright © 2021 Pengfei Zhang et al. This is an open access article distributed under the Creative Commons Attribution License (the “License”), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. Notwithstanding the ProQuest Terms and Conditions, you may use this content in accordance with the terms of the License. https://creativecommons.org/licenses/by/4.0/