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Trajectory Tracking Control of a Caterpillar Vehicle

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Advances in Engineering Research and Application (ICERA 2020)

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 178))

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Abstract

This paper presents the experimental results of the tracking control of a Caterpillar Vehicle. The proposed scheme involves three steps: 1, building a model of a Caterpillar Vehicle system with two wheeled vehicle; 2, apply back stepping control method for trajectory tracking of the Caterpillar Vehicle; 3, The model reference adaptive control (MRAC) technique is used to design a controller that ensure the stability of the system. The MRAC technique is used to design a controller that is able to address the effects caused by changes in the desired trajectory reference. The MRAC controller is first evaluated using computer simulations which show that the controller is able to effectively respond to changes in the desired trajectory. The simulation results compare the quality of the two controllers using the back stepping control method and MRAC when the desired trajectory is Straight or curved line. Based on the comparison results, MRAC is proposed to track the desired trajectory.

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Acknowledgement

This research was supported by the Research Foundation funded by Thai Nguyen University of Technology.

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Authors and Affiliations

  1. Thai Nguyen University of Technology, Tich Luong Ward, Thai Nguyen City, VN, Vietnam

    Do Trung Hai, Bui Thi Hai Linh & Tran Ngoc Anh

Authors
  1. Do Trung Hai
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  2. Bui Thi Hai Linh
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  3. Tran Ngoc Anh
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Corresponding author

Correspondence to Do Trung Hai .

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Editors and Affiliations

  1. Department of Computer Science and Automation, Ilmenau University of Technology (IUT), Ilmenau, Germany

    Kai-Uwe Sattler

  2. Faculty of Electronic Engineering, Thai Nguyen University of Technology, Thai Nguyen, Vietnam

    Duy Cuong Nguyen

  3. Faculty of Mechanical Engineering, Thai Nguyen University of Technology, Thai Nguyen, Vietnam

    Ngoc Pi Vu

  4. Hanoi University of Science and Technology, Hanoi, Vietnam

    Banh Tien Long

  5. Institute for Automation and Systems Engineering, Ilmenau University of Technology (IUT), Ilmenau, Germany

    Horst Puta

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Hai, D.T., Linh, B.T.H., Anh, T.N. (2021). Trajectory Tracking Control of a Caterpillar Vehicle. In: Sattler, KU., Nguyen, D.C., Vu, N.P., Long, B.T., Puta, H. (eds) Advances in Engineering Research and Application. ICERA 2020. Lecture Notes in Networks and Systems, vol 178. Springer, Cham. https://doi.org/10.1007/978-3-030-64719-3_94

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  • DOI: https://doi.org/10.1007/978-3-030-64719-3_94

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-64718-6

  • Online ISBN: 978-3-030-64719-3

  • eBook Packages: EngineeringEngineering (R0)

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