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LQR-GA Controller for Articulated Dump Truck Path Tracking System

  • Yu Meng (孟宇)Email author
  • Xin Gan (甘鑫)
  • Yu Wang (汪钰)
  • Qing Gu (顾青)
Article
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Abstract

This paper designs a novel controller to improve the path-tracking performance of articulated dump truck (ADT). By combining linear quadratic regulator (LQR) with genetic algorithm (GA), the designed controller is used to control linear and angular velocities on the midpoint of the front frame. The novel controller based on the error dynamics model is eventually realized to track the path high-precisely with constant speed. The results of simulation and experiment show that the LQR-GA controller has a better tracking performance than the existing methods under a low speed of 3m/s. In this paper, kinematics model and simulation control models based on co-simulation of ADAMS and Matlab/Simulink are established to verify the proposed strategy. In addition, a real vehicle experiment is designed to further more correctness of the conclusion. With the proposed controller and considering the steering model in the simulation, the control performance is improved and matches the actual situation better. The research results contribute to the development of automation of ADT.

Key words

articulated dump truck (ADT) path tracking steering analysis linear quadratic regulator (LQR) genetic algorithm (GA) controller 

CLC number

TP 273.1 

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Copyright information

© Shanghai Jiaotong University and Springer-Verlag GmbH Germany, part of Springer Nature 2019

Authors and Affiliations

  • Yu Meng (孟宇)
    • 1
    Email author
  • Xin Gan (甘鑫)
    • 1
  • Yu Wang (汪钰)
    • 1
  • Qing Gu (顾青)
    • 1
  1. 1.School of Mechanical EngineeringUniversity of Science and Technology BeijingBeijingChina

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