Electrical Engineering and Systems Science > Systems and Control
arXiv:2203.08944 (eess)
[Submitted on 16 Mar 2022 (v1), last revised 7 Apr 2022 (this version, v2)]
Title:Autonomous Wheel Loader Trajectory Tracking Control Using LPV-MPC
View a PDF of the paper titled Autonomous Wheel Loader Trajectory Tracking Control Using LPV-MPC, by Ruitao Song and 4 other authors
View PDFAbstract:In this paper, we present a systematic approach for high-performance and efficient trajectory tracking control of autonomous wheel loaders. With the nonlinear dynamic model of a wheel loader, nonlinear model predictive control (MPC) is used in offline trajectory planning to obtain a high-performance state-control trajectory while satisfying the state and control constraints. In tracking control, the nonlinear model is embedded into a Linear Parameter Varying (LPV) model and the LPV-MPC strategy is used to achieve fast online computation and good tracking performance. To demonstrate the effectiveness and the advantages of the LPV-MPC, we test and compare three model predictive control strategies in the high-fidelity simulation environment. With the planned trajectory, three tracking control strategies LPV-MPC, nonlinear MPC, and LTI-MPC are simulated and compared in the perspectives of computational burden and tracking performance. The LPV-MPC can achieve better performance than conventional LTI-MPC because more accurate nominal system dynamics are captured in the LPV model. In addition, LPV-MPC achieves slightly worse tracking performance but tremendously improved computational efficiency than nonlinear MPC. A video with loading cycles completed by our autonomous wheel loader in the simulation environment can be found here:this https URL.
| Subjects: | Systems and Control (eess.SY) |
| Cite as: | arXiv:2203.08944 [eess.SY] |
| (orarXiv:2203.08944v2 [eess.SY] for this version) | |
| https://doi.org/10.48550/arXiv.2203.08944 arXiv-issued DOI via DataCite |
Submission history
From: Ruitao Song [view email][v1] Wed, 16 Mar 2022 21:11:21 UTC (398 KB)
[v2] Thu, 7 Apr 2022 18:48:00 UTC (399 KB)
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View a PDF of the paper titled Autonomous Wheel Loader Trajectory Tracking Control Using LPV-MPC, by Ruitao Song and 4 other authors
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