Research on Hierarchical Control of Intelligent Industrial Vehicle Path Tracking Based on Fully Hydraulic Steering Time Delay |
Guang Xia1,2, Tao Jiang2, Xiwen Tang3, Yang Zhang2, Shaojie Wang2 |
1Key Laboratory for Automated Vehicle Safety Technology of Anhui Province, Hefei University of Technology, Hefei 230009, China 2School of Automotive and Traffic Engineering, Hefei University of Technology, Hefei 230009, China 3Institute of Electronic Engineering, National University of Defense Technology, Hefei 230037, China |
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Received: October 11, 2023; Revised: December 10, 2023 Accepted: July 19, 2024. Published online: September 22, 2024. |
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ABSTRACT |
An intelligent industrial vehicle path-tracking hierarchical controller considering fully hydraulic steering time delay compensation is designed in this study. The upper decision layer uses variable constraint linear time-varying MPC for path-tracking control. The lower execution layer uses a time delay probability model and variational Bayesian algorithm to estimate the optimal time-delay value and combines with proposed input–output moment equations for the steering system to advance the target steering wheel angle to realize the real-time compensation of steering time-delay disturbance by path tracking. The simulation and test results show that the lateral acceleration, center of mass sideslip angle, tire-slip angle, and tracking error of the intelligent industrial vehicle under different loads and working conditions are improved by 29.8%, 36.2%, 41.5%, and 43.2%, respectively. |
Key Words:
Full hydraulic steering · Path tracking · Layered control · Model predictive control · Time-delay estimation and compensation · Variational Bayesian algorithm |
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