310 research outputs found
Flat systems, equivalence and trajectory generation
Flat systems, an important subclass of nonlinear control systems introduced
via differential-algebraic methods, are defined in a differential
geometric framework. We utilize the infinite dimensional geometry developed
by Vinogradov and coworkers: a control system is a diffiety, or more
precisely, an ordinary diffiety, i.e. a smooth infinite-dimensional manifold
equipped with a privileged vector field. After recalling the definition of
a Lie-Backlund mapping, we say that two systems are equivalent if they
are related by a Lie-Backlund isomorphism. Flat systems are those systems
which are equivalent to a controllable linear one. The interest of
such an abstract setting relies mainly on the fact that the above system
equivalence is interpreted in terms of endogenous dynamic feedback. The
presentation is as elementary as possible and illustrated by the VTOL
aircraft
Anti-Jackknifing Control of Tractor-Trailer Vehicles via Intrinsically Stable MPC
It is common knowledge that tractor-trailer vehicles are affected by jackknifing, a phenomenon that consists in the divergence of the trailer hitch angle and ultimately causes the vehicle to fold up. For the case of backwards motion, in which jackknifing can also occur at low speeds, we present a control method that drives the vehicle along a reference Cartesian trajectory while avoiding the divergence of the hitch angle. In particular, a feedback control law is obtained by combining two actions: a tracking term, computed using input-output linearization, and a corrective term, generated via IS-MPC, an intrinsically stable MPC scheme which is effective for stable inversion of nonminimum-phase systems. The proposed method has been verified in simulation and experimentally validated on a purposely built prototype
Control of autonomous multibody vehicles using artificial intelligence
The field of autonomous driving has been evolving rapidly within the last few years and
a lot of research has been dedicated towards the control of autonomous vehicles, especially
car-like ones. Due to the recent successes of artificial intelligence techniques, even
more complex problems can be solved, such as the control of autonomous multibody vehicles.
Multibody vehicles can accomplish transportation tasks in a faster and cheaper way
compared to multiple individual mobile vehicles or robots.
But even for a human, driving a truck-trailer is a challenging task. This is because of the
complex structure of the vehicle and the maneuvers that it has to perform, such as reverse
parking to a loading dock. In addition, the detailed technical solution for an autonomous
truck is challenging and even though many single-domain solutions are available, e.g. for
pathplanning, no holistic framework exists. Also, from the control point of view, designing
such a controller is a high complexity problem, which makes it a widely used benchmark.
In this thesis, a concept for a plurality of tasks is presented. In contrast to most of the existing
literature, a holistic approach is developed which combines many stand-alone systems
to one entire framework. The framework consists of a plurality of modules, such as modeling,
pathplanning, training for neural networks, controlling, jack-knife avoidance, direction
switching, simulation, visualization and testing. There are model-based and model-free
control approaches and the system comprises various pathplanning methods and target
types. It also accounts for noisy sensors and the simulation of whole environments.
To achieve superior performance, several modules had to be developed, redesigned and
interlinked with each other. A pathplanning module with multiple available methods optimizes
the desired position by also providing an efficient implementation for trajectory following.
Classical approaches, such as optimal control (LQR) and model predictive control
(MPC) can safely control a truck with a given model. Machine learning based approaches,
such as deep reinforcement learning, are designed, implemented, trained and tested successfully.
Furthermore, the switching of the driving direction is enabled by continuous
analysis of a cost function to avoid collisions and improve driving behavior.
This thesis introduces a working system of all integrated modules. The system proposed
can complete complex scenarios, including situations with buildings and partial trajectories.
In thousands of simulations, the system using the LQR controller or the reinforcement
learning agent had a success rate of >95 % in steering a truck with one trailer, even with
added noise. For the development of autonomous vehicles, the implementation of AI at
scale is important. This is why a digital twin of the truck-trailer is used to simulate the full
system at a much higher speed than one can collect data in real life.Tesi
Path-tracking of a tractor-trailer vehicle along rectilinear and circular paths: A Lyapunov-based approach
Published versio
A path planning and path-following control framework for a general 2-trailer with a car-like tractor
Maneuvering a general 2-trailer with a car-like tractor in backward motion is
a task that requires significant skill to master and is unarguably one of the
most complicated tasks a truck driver has to perform. This paper presents a
path planning and path-following control solution that can be used to
automatically plan and execute difficult parking and obstacle avoidance
maneuvers by combining backward and forward motion. A lattice-based path
planning framework is developed in order to generate kinematically feasible and
collision-free paths and a path-following controller is designed to stabilize
the lateral and angular path-following error states during path execution. To
estimate the vehicle state needed for control, a nonlinear observer is
developed which only utilizes information from sensors that are mounted on the
car-like tractor, making the system independent of additional trailer sensors.
The proposed path planning and path-following control framework is implemented
on a full-scale test vehicle and results from simulations and real-world
experiments are presented.Comment: Preprin
Path-tracking control for a tractor-trailer via input-output linearization
Vehicle's model -- Path tracking dynamics -- Path tracking control design -- An application example
Feedback Linearization Control for Path Tracking of Articulated Dump Truck
The articulated dump truck is a widespread tansport vehicle for narrow rough terrain environment. To achieve the autonomous driving in the underground tunnel, this ariticle proporses a path following strategy of articulated vehicle based on feedback linearization algorithm. Fisrt of all, the articulated vehicle kinematics model, which reflects the relationship of the structure parameters and state variables, is established. Refering to the model, the nonlinear errors equation between real path and reference path, which are as the feedback from the path tracking process, is solved and linearized. After estimating the system controllable, according to the error equation, the path following controller with feedback linearization algorithm is designed through calaculating the parameters with the pole assignment. Finally, the hardware in the loop simulation on NI cRIO and PXI controller is lunched for verifying the control quality and real-time path tracking performance
Low speed maneuvering assistance for long vehicle combinations
This paper considers a low speed maneuvering problem for long articulated vehicle combinations. High precision maneuvering is achieved by designing a model-based state feedback optimal control method, commanding the steering of the first unit and a moveable coupling point between the first unit and the trailer. Simulation results are presented for a tight 90 degree turn, involving both forward and backward motions
Flat systems, equivalence and trajectory generation
3rd cycleIntroduction : Control systems are ubiquitous in modern technology. The use of feedback control can be found in systems ranging from simple thermostats that regulate the temperature of a room, to digital engine controllers that govern the operation of engines in cars, ships, and planes, to flight control systems for high performance aircraft. The rapid advances in sensing, computation, and actuation technologies is continuing to drive this trend and the role of control theory in advanced (and even not so advanced) systems is increasing..
- ā¦