A car-like ground vehicle is a nonlinear and underactuated system subject to nonholonomic constraints. Trajectory tracking control of such systems is a challenging problem. To this end, a trajectory tracking controller based on nonlinear kinematics and dynamics model of a ground vehicle by Trajectory Tracking Control (TLC) is presented in our previous work. In this paper, we present hardware validation of TLC controller design with vehicle parameters determination for a Radio Controlled (RC) scaled model vehicle, experimental implementation, and tuning procedure. Hardware testing results are presented to demonstrate the effectiveness of our design. The design can be readily scaled-up to full-size vehicles and adapted to different types of autonomous ground vehicles with only knowledge of the vehicle model parameters.
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ASME 2018 Dynamic Systems and Control Conference
September 30–October 3, 2018
Atlanta, Georgia, USA
Conference Sponsors:
- Dynamic Systems and Control Division
ISBN:
978-0-7918-5191-3
PROCEEDINGS PAPER
Trajectory Tracking and Control for Nonholonomic Ground Vehicle: Preliminary and Experimental Test
J. Jim Zhu
J. Jim Zhu
Ohio University, Athens, OH
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Yuanyan Chen
Ohio University, Athens, OH
J. Jim Zhu
Ohio University, Athens, OH
Paper No:
DSCC2018-9148, V003T37A007; 10 pages
Published Online:
November 12, 2018
Citation
Chen, Y, & Zhu, JJ. "Trajectory Tracking and Control for Nonholonomic Ground Vehicle: Preliminary and Experimental Test." Proceedings of the ASME 2018 Dynamic Systems and Control Conference. Volume 3: Modeling and Validation; Multi-Agent and Networked Systems; Path Planning and Motion Control; Tracking Control Systems; Unmanned Aerial Vehicles (UAVs) and Application; Unmanned Ground and Aerial Vehicles; Vibration in Mechanical Systems; Vibrations and Control of Systems; Vibrations: Modeling, Analysis, and Control. Atlanta, Georgia, USA. September 30–October 3, 2018. V003T37A007. ASME. https://doi.org/10.1115/DSCC2018-9148
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