Autonomous and remote-controlled tracked vehicles are freeing humans from exhausting off-road maneuvers. Advanced motion control is a necessity to achieve high mobility and enhanced safety with less dependence on operator skill. Tracked vehicles may slide laterally or roll over under large centrifugal forces. Precise yaw motion and sideslip prevention are required for steering controller development. A switching control architecture is proposed for the underactuated tracked vehicle in this study. Two control laws for yaw rate tracking and anti-sideslip are proposed respectively based on second-order disturbance observers (DO-2s) with a given bandwidth. The controller is optimized for the two objectives using Nash bargaining method. The proposed steering controller is verified on a small electric track vehicle. Under large disturbance, the optimized DO-2-based controller prevents potential sideslip and reduces the yaw rate tracking error by 42.6% compared with LADRC. The chattering induced by switching is moderate because the estimated disturbances are smoothly switched.
KayacanEYoungSPeschelJ, et al. High-precision control of tracked field robots in the presence of unknown traction coefficients. J Field Robot2018; 35(7): 1050–1062.
2.
ZhangGLiuXWangS. Simulation of travelling performance and experimental research on heavy double crawlers on a soft ground. J Mech Sci Technol2017; 31: 501–514.
3.
PurdyDSimnerDDiskettD, et al. An experimental and theoretical investigation into the roll-over of tracked vehicles. Proc IMechE, Part D: J Automobile Engineering2016; 230(3): 291–307.
4.
HuJTaoJZhaoW. Modeling and simulation of steering control strategy for dual-motor coupling drive tracked vehicle. J Braz Soc Mech Sci Eng2019; 41(190): 1–11.
5.
SubariMHudhaKKadirZ, et al. Development of non-parametric model and speed tracking control of tracked vehicle electric motor. In: IEEE international conference on automatic control & intelligent systems, Shah Alam, Malaysia, 26 June 2021, pp.130–133. New York: IEEE.
6.
BarakatMAmmarHElsamantyM. Experimental path tracking optimization and control of a nonlinear skid steering tracked mobile robot. In: 2nd novel intelligent and leading emerging sciences conference (NILES), Giza, Egypt, 24–26 October 2020, pp.434–438. New York: IEEE.
7.
HuangHLiZWangZ. A power coupling system for electric tracked vehicles during high-speed steering with optimization-based torque distribution control. Energies2018; 11: 1538.
8.
LiXLiuXWangG, et al. Discrete open-closed-loop PID-type iterative learning control for trajectory tracking of tracked mobile robots. Int J Adv Robot Syst2022; 19(6): 1–17.
9.
EjazMTangTLuC. Vision-based autonomous navigation approach for a tracked robot using deep reinforcement learning. IEEE Sens J2021; 21(2): 2230–2240.
10.
ZhengTYangAWangM, et al. Neural network-based adaptive tracking control of mobile robots in the presence of modelling error and disturbances. In: 34th Chinese control conference (CCC), Hangzhou, China, 28–30 July 2015, pp.3173–3178. New York: IEEE.
11.
HouXZhangJHeC, et al. Autonomous driving at the handling limit using residual reinforcement learning. Adv Eng Inform2022; 54: 1–21.
12.
ZhouBHanJDaiX. Backstepping based global exponential stabilization of a tracked mobile robot with slipping perturbation. J Bionic Eng2011; 8: 69–76.
13.
RigatosG. A nonlinear optimal control approach for tracked mobile robots. J Syst Sci Complex2021; 34: 1–22.
14.
LiZJingXYuJ. Trajectory tracking control of a tracked mobile robot with a passive bio-inspired suspension. In: IEEE international conference on mechatronics (ICM), Ilmenau, Germany, 18–20 March 2019, vol. 1, pp.114–119. New York: IEEE.
15.
YanHYangFWangZ. Model predictive control for unmanned tracked vehicle path following. In: International conference on sensing, diagnostics, prognostics, and control (SDPC), Shanghai, China, 26–28 July 2021, pp.101–106. New York: IEEE.
16.
HongXChenYLiY, et al. Dynamic model-based back-stepping control design for-trajectory tracking of seabed tracked vehicles. J Mech Sci Technol2022; 36: 4221–4232.
17.
LiuWZhengYSongR, et al. Adaptive sliding mode control of tracked mobile robot under unknown bounded disturbance. In: 3rd international conference on unmanned systems (ICUS), Harbin, China, 27–28 November 2020, pp.960–965. New York: IEEE.
18.
WangHZhangYXuechuangW, et al. Cascaded continuous sliding mode control for tracked mobile robot via nonlinear disturbance observer. Comput Electr Eng2021; 97: 1–14.
19.
HajjamiLEMellouliEMZuraulisV, et al. Neural network optimization algorithm based non-singular fast terminal sliding-mode control for an uncertain autonomous ground vehicle subjected to disturbances. Proc IMechE, Part D: J Automobile Engineering. Epub ahead of print 11April2023. DOI: 10.1177/09544070231169117.
20.
HajjamiLEMellouliEMZuraulisV, et al. A novel robust adaptive neuro-sliding mode steering controller for autonomous ground vehicles. Rob Auton Syst2023; 170: 104557.
21.
PapeOMorillonJHoubloupP, et al. Stability control for high speed tracked unmanned vehicles. Proc SPIE Int Soc Opt Eng2005; 5804: 418–426.
22.
JiaWLiuXZhangC, et al. Research on steering stability of high-speed tracked vehicles. Math Probl Eng2022; 2022: 1–12.
23.
PurdyD. A heuristic investigation into the design of a dynamic yaw controller for a high-speed tracked vehicle. Proc IMechE, Part D: J Automobile Engineering2020; 234(2–3): 689–701.
24.
MohammadpourENaraghiM. Robust adaptive stabilization of skid steer wheeled mobile robots considering slipping effects. Adv Robot2011; 25: 205–227.
25.
LiCXieYWangG, et al. Lateral stability regulation of intelligent electric vehicle based on model predictive control. J Intell Connect Veh2021; 4(3): 104–114.
26.
AboudoniaAEl-BadawyARashadR. Active anti-disturbance control of a quadrotor unmanned aerial vehicle using the command-filtering backstepping approach. Nonlinear Dyn2017; 90(1): 8197.
27.
YangYXuHYaoX. Inverse-dynamics-and disturbance-observer-based tube model predictive tracking control of uncertain robotic manipulator. J Franklin Inst2023; 360: 8197.
28.
GuoBZhaoZ. On the convergence of extended state observer for nonlinear systems with uncertainty. Syst Control Lett2011; 60: 420–430.
29.
LiSYangJChenWu, et al. Generalized extended state observer based control for systems with mismatched uncertainties. IEEE Trans Ind Electron2012; 59: 4792–4802.
30.
HouCLiXWangH, et al. Fuzzy linear extended states observerbased iteration learning faulttolerant control for autonomous underwater vehicle trajectorytracking system. IET Control Theory Appl2022; 17: 270–283.
31.
TaratorkinIDerzhanskiiVTaratorkinA. Improving the quality of transient response during automatic control of the turn of a tracked vehicle based on the implementation of structured input shapers. MATEC Web Conf2017; 129: 1–5.
32.
WongJChiangC. A general theory for skid steering of tracked vehicles on firm ground. Proc IMechE, Part D: J Automobile Engineering2001; 215: 343–355.
33.
ChungTYiK. Design and evaluation of side slip angle-based vehicle stability control scheme on a virtual test track. IEEE Trans Control Syst Technol2006; 14: 224–234.
34.
DeanABrennanS. A low-order dynamic model of a tracked robot inclusive of non-linear slip. Int J Heavy Veh Syst2008; 15: 327–355.
35.
SontagED. Input to state stability: basic concepts and results. In: AgrachevAAMorseASSontagED, et al. (eds) Nonlinear and optimal control theory. Berlin: Springer, 2008, pp.163–220.
36.
WangWLiJLiX, et al. Multi-objective collaborative control method for multi-axle distributed vehicle assisted driving. Appl Sci2023; 13: 7769.
37.
LiCChenYSunH, et al. Optimal design of high-order control for fuzzy dynamical systems based on the cooperative game theory. IEEE Trans Cybern2022; 52: 423–432.
38.
ChengSLiLChenX, et al. Longitudinal autonomous driving based on game theory for intelligent hybrid electric vehicles with connectivity. Appl Energy2020; 268: 115030.
39.
EngwerdaJ. LQ dynamic optimization and differential games. Chichester: John Wiley and Sons, 2005.
40.
SunZXiaYDaiL, et al. Disturbance rejection MPC for tracking of wheeled mobile robot. IEEE ASME Trans Mechatron2017; 22(6): 2576–2587.
41.
ZhengQGaoZ. Active disturbance rejection control: some recent experimental and industrial case studies. Control Theory Technol2018; 16: 301–313.
42.
ChiliveriVRKalpanaRSubramaniamU, et al. Novel reaching law based predictive sliding mode control for lateral motion control of in-wheel motor drive electric vehicle with delay estimation. IET Intell Transp Syst. Epub ahead of print 22 December 2023. https://doi.org/10.1049/itr2.12474
43.
ZhangNNiJHuJ. Robust H∞ state feedback control for handling stability of intelligent vehicles on a novel all-wheel independent steering mode. IET Intell Transp Syst2019; 13(10): 1579–1589.
