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access icon free Path tracking control of a self-driving wheel excavator via an enhanced data-driven model-free adaptive control approach

  • Author(s): Shida Liu 1 ; Zhongsheng Hou 2, 3 ; Taotao Tian 4 ; Zhidong Deng 5 ; Lei Guo 6
    • View affiliations
  • Source: Volume 14, Issue 2, 29 January 2020, p. 220 – 232
    DOI:  10.1049/iet-cta.2018.5493 , Print ISSN 1751-8644, Online ISSN 1751-8652
© The Institution of Engineering and Technology
Received 07/06/2018, Accepted 02/10/2019, Revised 15/09/2019, Published 07/10/2019

In this work, an enhanced model-free adaptive control algorithm considering the time delay (EMFAC-TD) is proposed for a class of multi-input and multi-output systems and is further applied to the path tracking control problem of a self-driving wheel excavator. First, a preview-deviation-yaw-based method is first proposed for the simplification of excavator dynamics. Then, based on the simplified dynamics, the EMFAC-TD controller is designed via a novel dynamical linearisation technique with a time-varying parameter termed pseudo Jacobian matrix, which contains the coupling information of the excavator driving dynamics. Moreover, for the time delay of the excavator, EMFAC-TD method also handles it by introducing the Smith estimating method. The main feature of the proposed EMFAC-TD is that the controller is designed only based on the input and output data of the excavator. Further, the stability of the proposed EMFAC-TD is proved via rigorous mathematical analysis. The experimental results implemented on a real self-driving excavator show that the maximum tracking error of the excavator controlled via EMFAC-TD method can be limited as 0.3–0.7 m for different driving tasks, satisfying the practical requirement. The experimental results verify that EMFAC-TD method can improve the tracking performance and complete the required task successfully.

Inspec keywords: nonlinear control systems; stability; adaptive control; Jacobian matrices; time-varying systems; excavators; position control; control system synthesis; tracking; linearisation techniques; motion control

Other keywords: time delay; excavator dynamics; wheel excavator; Smith estimating method; path tracking control problem; time-varying parameter; multiinput and multioutput systems; maximum tracking error; driving tasks; enhanced data-driven model-free adaptive control approach; excavator driving dynamics; preview-deviation-yaw-based method; pseudoJacobian matrix; EMFAC-TD method; output data; dynamical linearisation technique

Subjects: Algebra; Algebra; Stability in control theory; Materials handling equipment; Nonlinear control systems; Spatial variables control; Control applications to materials handling; Self-adjusting control systems; Control system analysis and synthesis methods; Time-varying control systems

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