Trajectory Tracking Control of Dual Independent Electric Drive Unmanned Tracked Vehicle Based on MPC-MFAC

被引：0
|
作者：
Tang Z. [1 ]
Liu H. [1 ]
Xue M. [1 ]
Chen H. [1 ]
Gong X. [1 ]
Tao J. [1 ]
机构：
[1] School of Mechanical Engineering, Beijing Institute of Technology, Beijing
来源：
Binggong Xuebao/Acta Armamentarii | 2023年 / 44卷 / 01期
关键词：
improved particle swarm optimization algorithm; model predictive control; model-free adaptive control; trajectory tracking control; unmanned tracked vehicle;
D O I：
10.12382/bgxb.2022.0886
中图分类号：
学科分类号：
摘要：
The model mismatch caused by the simplified model and uncertainty of external environment are the main reasons for the trajectory tracking error. Especially for the unmanned tracked vehicle, its complex physical characteristics and working environment magnify the adverse effects of these two factors. To solve this problem, this paper combines the model-based and data-based control methods, and proposes a trajectory tracking control method for the dual independent electric drive unmanned tracked vehicle based on a model predictive control algorithm (MPC) combined with a model-free adaptive control algorithm (MFAC) as compensation. Firstly, based on balancing modeling accuracy and solution time, the MPC is used for feedforward solution. Then, for the inevitable differences between the simplified model in the MPC and the actual vehicle model and environmental uncertainty, the MFAC algorithm is constructed based on the dynamic tracking effect for compensation. That is, the error between the actual trajectory of the vehicle and the trajectory predicted by the model is used to correct the speed control quantities of the dual tracks solved by the MPC in real time. The simulation results show that this method can suppress the influence of internal and external uncertainties of the system to a certain extent, and improve the trajectory tracking control accuracy of the dual independent electric drive unmanned tracked vehicle in a dynamic environment. © 2023 China Ordnance Society. All rights reserved.
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页码：129 / 139
页数：10
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