Trajectory Tracking Control in Real-Time of Dual-Motor-Driven Driverless Racing Car Based on Optimal Control Theory and Fuzzy Logic Method

Complexity 2021:1-16 (2021)
  Copy   BIBTEX

Abstract

To improve the accuracy and timeliness of the trajectory tracking control of the driverless racing car during the race, this paper proposes a track tracking control method that integrates the rear wheel differential drive and the front wheel active steering based on optimal control theory and fuzzy logic method. The model of the lateral track tracking error of the racing car is established. The model is linearized and discretized, and the quadratic optimal steering control problem is constructed. Taking advantage of the differential drive of dual-motor-driven racing car, the dual motors differential drive fuzzy controller is designed and integrated driving with active steering control. Simulation analysis and actual car verification show that this integrated control method can ensure that the car tracks different race tracks well and improve the track tracking control accuracy by nearly 30%.

Links

PhilArchive



    Upload a copy of this work     Papers currently archived: 74,389

External links

Setup an account with your affiliations in order to access resources via your University's proxy server

Through your library

Similar books and articles

Comparison of DC Motor Speed Control Performance Using Fuzzy Logic and Model Predictive Control Method.Mustefa Jibril - 2020 - International Research Journal of Modernization in Engineering Technology and Science 2 (4):141-145.

Analytics

Added to PP
2021-04-30

Downloads
1 (#1,489,837)

6 months
1 (#415,900)

Historical graph of downloads

Sorry, there are not enough data points to plot this chart.
How can I increase my downloads?

Author's Profile

L. I. Liu
Oxford University

Citations of this work

No citations found.

Add more citations

References found in this work

No references found.

Add more references