Trajectory tracking of autonomous vehicles via model predictive control aided by sliding mode control

الموضوعات

علوم تطبيقية وتكنولوجية

الملخص

In this work, we propose a composite control system for stable and robust trajectory tracking of autonomous ground vehicles (AGVs) in the presence of bounded disturbances and uncertainties. A nominal model predictive control (MPC) system is combined with a sliding mode controller (SMC) to formulate the proposed control system under the umbrella of tube-based MPC approach, with the aim of tackling the trajectory tracking challenge for AGVs in uncertain environments. The control scheme is further modified by replacing the classical first-order sliding mode control (FOSMC) with a second-order one, the super twisting sliding mode controller (STSMC), to obtain a smooth control signal by diminishing the chattering phenomena. The proposed system's stability is analyzed and guaranteed via Input-to-State Stability (ISS) in coordination with Lyapunov stability theory.For the first time, this combined control structure is applied to the nonlinear kinematic model of AGVs, where STSMC plays the role of an auxiliary controller in the feedback loop to handle disturbances and uncertainties that cause deviation from the nominal model.In particular, the auxiliary STSMC approach is used to produce a control action that reduces the difference between the nominal predicted states and the actual ones, with the main performance metric being the error between the vehicle's position and orientation against a desired trajectory, in addition to fulfilling all of the optimization constraints. A comparative simulation study is presented and demonstrates the effectiveness and robustness of the proposed composite control system in the presence of disturbance effects.

روابط وملفات

التعريف والنوع

رقم الوثيقة

09b87262-ba04-4872-8e7d-43282f75dfb6

رقم العقد

0

نوع الوسائط

Crawler

نوع المحتوى

الرسائل العلمية

صيغة المصدر

رسائل ماجيستير

نوع الملف

pdf text

أسماء الملفات

2025828_1.pdf

بيانات النشر

ألقاب المؤلفين

[{"name_ar":"Hassan Issa El Atwi","title_ar":"اعداد","title_en":"Preparation"},{"name_ar":"Naseem Daher","title_ar":"اشراف","title_en":"Supervision"}]

اللغة

English

المصدر والدورية

اسم المصدر

Trajectory tracking of autonomous vehicles via model predictive control aided by sliding mode control

المحتوى والصفحات

عدد الصفحات

0

كلمات الباحثين

Show simple item record dc.contributor.advisor Daher, Naseem dc.contributor.author El Atwi, Hassan dc.date.accessioned 2021-02-09T04:23:37Z dc.date.available 2021-02-09T04:23:37Z dc.date.issued 2021-02-09 dc.identifier.uri http://hdl.handle.net/10938/22252 dc.description Naseem Daher; Imad Elhajj; Elie Shammas dc.description.abstract In this work, we propose a composite control system for stable and robust trajectory tracking of autonomous ground vehicles (AGVs) in the presence of bounded disturbances and uncertainties. A nominal model predictive control (MPC) system is combined with a sliding mode controller (SMC) to formulate the proposed control system under the umbrella of tube-based MPC approach, with the aim of tackling the trajectory tracking challenge for AGVs in uncertain environments. The control scheme is further modified by replacing the classical first-order sliding mode control (FOSMC) with a second-order one, the super twisting sliding mode controller (STSMC), to obtain a smooth control signal by diminishing the chattering phenomena. The proposed system's stability is analyzed and guaranteed via Input-to-State Stability (ISS) in coordination with Lyapunov stability theory.For the first time, this combined control structure is applied to the nonlinear kinematic model of AGVs, where STSMC plays the role of an auxiliary controller in the feedback loop to handle disturbances and uncertainties that cause deviation from the nominal model.In particular, the auxiliary STSMC approach is used to produce a control action that reduces the difference between the nominal predicted states and the actual ones, with the main performance metric being the error between the vehicle's position and orientation against a desired trajectory, in addition to fulfilling all of the optimization constraints. A comparative simulation study is presented and demonstrates the effectiveness and robustness of the proposed composite control system in the presence of disturbance effects. dc.language.iso en dc.subject Model Predictive Control, Sliding Mode Control, Super Twisting Sliding Mode Control, Robust Control, Trajectory Tracking, Autonomous Ground Vehicles, Wheeled Mobile Robots

إشراف وإعداد

الإشراف

Naseem Daher

الإعداد

Hassan Issa El Atwi

الاقتباسات الببليوغرافية