DOAJ Open Access 2024

Model-Free Filter-Based Trajectory Tracking Controller for Two-Wheeled Vehicles Through Pole-Zero Cancellation Technique

Hosik Lee Sangyoon Oh Kyung-Soo Kim Yonghun Kim Seok-Kyoon Kim

Abstrak

Considering the nonlinear dynamics, this paper devises an advanced position trajectory tracking controller with a model-free filter for two-wheeled vehicle (TWV) applications. The proposed technique preserves a simple structure in the form of the proportional–integral (PI) controller involving the model-free filter and nonlinearly structured feedback gains, which make the following contributions: (a) the proposed filter smooths the position and yaw angle measurements according to the first-order convergence rate without any model information; and (b) the PI control with the nonlinearly structured feedback gains robustly stabilizes the position and yaw angle errors along the desired first-order system to accomplish the trajectory tracking mission, which is obtained by the pole-zero cancellation (PZC) in the presence of modeling errors. MATLAB/Simulink was used to emulate the resulting feedback system and validate the effectiveness of the proposed technique.

Topik & Kata Kunci

Mechanical engineering and machinery Machine design and drawing Motor vehicles. Aeronautics. Astronautics

Penulis (5)

Hosik Lee

Sangyoon Oh

Kyung-Soo Kim

Yonghun Kim

Seok-Kyoon Kim

Format Sitasi

APA MLA BibTeX

Lee, H., Oh, S., Kim, K., Kim, Y., Kim, S. (2024). Model-Free Filter-Based Trajectory Tracking Controller for Two-Wheeled Vehicles Through Pole-Zero Cancellation Technique. https://doi.org/10.3390/vehicles6040093

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Informasi Jurnal

Tahun Terbit: 2024
Sumber Database: DOAJ
DOI: 10.3390/vehicles6040093
Akses: Open Access ✓