Browse Publications Technical Papers 2021-01-0093

Stability Criteria for Accurate Path Tracking in Automated Guided Vehicle Systems 2021-01-0093

Satisfactory performance of intelligent vehicles systems in tracking a predefined trajectory requires an efficient control scheme to generate steering control signals from posture errors (i.e., errors in position and orientation). For such systems, it is necessary at each instant to control steering action so that any deviation from the path is corrected in a stable manner, in a reasonable time and without any oscillation about the desired path. This paper deals with stability of motion and motion control of intelligent vehicle systems. In this regard, the general control structure and specification of an optimum range of predefined control parameters for accurate path tracking of these systems are determined. A two degree of freedom (DOF) nonlinear dynamic model is developed to represent their plane motion. Path tracking of the vehicle is attained by controlling the position and orientation errors about the trajectory, which is accomplished by modifying the steering input signal on the basis of error feedbacks to the controller. Employment of various stability criteria and other constraints such as applying the physical limits of the vehicle to the controlled system narrows down the range of control parameters, within which the controlled system would remain stable. Experimental results demonstrating the performance of the system are reported.


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