A Nonlinear Dynamic Control Design with Conditional Integrators Applied to Unmanned Skid-steering Vehicle

Paper #:
  • 2017-01-1585

Published:
  • 2017-03-28
Abstract:
A dynamic controller is designed for unmanned skid-steering vehicle, which runs in complex road condition all the time. The vehicle speed is controlled through engine driving torque to achieve the desired vehicle speed and the steering is controlled through hydraulic braking on each side of the vehicle to achieve the desired yaw rate. Due to the complexity in wheel-ground interaction, the tire slip cannot be ignored. Besides, it may result in the saturation of the actuators torque, which will further cause the instability of the skid-steering vehicle. Therefore, contrary to the common approaches considering non-holonomic constraints, tire slip and saturation of actuators torque influencing the driving and braking are considered based on the analysis of vehicle dynamic model and nonlinear tire model. With conditional integrators, a dynamic controller overcoming integral saturation is designed under influence of tire forces and constraint of actuators. And a skid-steering vehicle stability condition is also proposed to ensure that the desired signals can be tracked accurately and stably. Then based on nonlinear control theory, a lyapunov function is built to prove the control system is asymptotically stable and the vehicle speed error and yaw rate error can converge to zero . In the end, the dynamic control algorithms proposed are verified by real vehicle tests. Several test scenarios are set up to test the algorithms. Straight-line driving proves the vehicle can track the desired vehicle speed accurately, steady circular motion proves the vehicle can track the steady desired vehicle yaw rate accurately and slalom motion proves the vehicle can track the transient desired vehicle yaw rate effectively.
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