Path following control of underground mining articulated vehicle based on the quadratic optimization method

Xue Zhe; Yuan Zhao; DeNing Liu; LiWei Wang

doi:10.1117/12.2658808

23 November 2022 Path following control of underground mining articulated vehicle based on the quadratic optimization method

Xue Zhe, Yuan Zhao, DeNing Liu, LiWei Wang

Author Affiliations +

Proceedings Volume 12454, International Symposium on Robotics, Artificial Intelligence, and Information Engineering (RAIIE 2022); 124541B (2022) https://doi.org/10.1117/12.2658808
Event: International Symposium on Robotics, Artificial Intelligence, and Information Engineering (RAIIE 2022), 2022, Hohhot, China

Abstract

The effectiveness of Model Predictive Control (MPC) for path following systems is well known. However, the commonly used control methods usually do not consider the complex computational complexity of fast dynamic systems, which is one of the main reasons for the resulting overshoot. This technical note considers the optimization problem of the controller, calculates the optimal solution of the control time through the genetic operator, then uses the block method to reduce the control time, and finally provides the optimal error weight matrix to deal with the error transient problem , so that the controller has a shorter calculation time and less error overshoot.

Citation Download Citation

Xue Zhe, Yuan Zhao, DeNing Liu, and LiWei Wang "Path following control of underground mining articulated vehicle based on the quadratic optimization method", Proc. SPIE 12454, International Symposium on Robotics, Artificial Intelligence, and Information Engineering (RAIIE 2022), 124541B (23 November 2022); https://doi.org/10.1117/12.2658808

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