Design of walking controller for crawler vehicle based on MPC
The manual walking of the crawler vehicle is easy to collide with the paved road after paving,and it is difficult to adjust the position of the vehicle at the end point.Therefore,a walking controller for crawler vehicles based on MPC is de-signed.The controller carries out trajectory planning based on quartic polynomial,and designs the objective function accord-ing to collision constraints and terminal stationarity.Based on the quartic polynomial planning results,the nonlinear MPC al-gorithm and linear MPC coupled PID algorithm are used for trajectory tracking simulation comparison.The simulation results show that the controller meets the requirements of collision constraints and trajectory stability,and the linear MPC algorithm has better real-time performance and trajectory tracking effect.This study is of great significance for improving the quality of post-pavement processing.
NETL
NSTL
万方数据
维普
