Path tracking control of autonomous container trucks using angular compensation LQR
A linear quadratic regulator(LQR)control method with incorporating articulated angle deviation and steering angle compensation was proposed to address the issue of path deviation of semi-trailer in the process of driving of autonomous container trucks.Based on the three-degree-of-freedom dynamic model of the truck,a path tracking error model was established with considering articulated angle deviation.The linear quadratic regulator(LQR)path tracking controller was designed by compensating for the steering angle using the proportion-integral-derivative(PID)algorithm.A joint simulation platform was built using MATLAB/Simulink and TruckSim to perform simulation analysis under different condition.The results show that the average deviation in distance between the tractor and the desired path is reduced by more than 62%,and the average deviation in distance between the semi-trailer and the desired path is reduced by more than 31%by adopting the proposed path tracking algorithm and introducing PID steering compensation.The heading deviation and articulation angle deviation are also improved.Therefore,the proposed control algorithm demonstrates good path tracking performance,enhancing accuracy and stability in tracking the desired trajectory.
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