Trajectory Tracking Controller Design for Caterpillar Vehicles Using a Model Reference Adaptive Controller

摘要

This paper proposes a trajectory tracking controller for Caterpillar Vehicles (CVs) with uncertain parameters that combines a kinematic controller based on a backstepping method and a dynamic controller based on a model reference adaptive controller (MRAC). To do this task, the followings are done. Firstly, a system configuration of the CV is described. Secondly, kinematic modeling and dynamic modeling of the CV with some uncertain parameters are presented. Thirdly, a kinematic controller is designed based on kinematic modeling such that a local posture tracking error vector converges to zero. Fourthly, a dynamic controller based on MRAC is designed based on dynamic modeling such that CV’s output velocity vector converge to a virtual control input vector. Thus, a trajectory tracking controller using backstepping-based MRAC is utilized to estimate these uncertain parameters. By choosing a suitable Lyapunov function candidate, system stability is guaranteed, and a control law and update laws are obtained. Finally, the simulation and experimental results are presented to verify the effectiveness of the proposed MRAC controller.