A \(H_\infty\) control for path tracking with fuzzy hyperbolic tangent model
type: Item
instance of: scholarly article
title: A \(H_\infty\) control for path tracking with fuzzy hyperbolic tangent model
zbMATH Open document ID: 1398.93106
DOI: 10.1155/2016/9072831
author: Yanyan Li
published in: Journal of Control Science and Engineering
publication date: 2018-10-08T00:00:00Z
review text: Summary: To achieve the goal of driver-less underground mining truck, a fuzzy hyperbolic tangent model is established for path tracking on an underground articulated mining truck. Firstly, the sample data of parameters are collected by the driver controlling articulated vehicle at a speed of 3\,m/s, including both the lateral position deviation and the variation of heading angle deviation. Then, according to the improved adaptive BP neural network model and deriving formula of mediation rate of error estimator by the method of Cauchy robust, the weights are identified. Finally, \(H_\infty\) control controller is designed to control steering angle. The results of hardware-in-the-loop simulation show that lateral position deviation, heading angle deviation, and steering angle of the vehicle can be controlled, respectively, at 0.024\,m, 0.08\,rad, and 0.21\,rad. All the deviations are asymptotically stable, and error control is in less than 2\%. The method is demonstrated to be effective and reliable in path tracking for the underground vehicles.
Mathematics Subject Classification ID: 93B36
Mathematics Subject Classification ID: 93C42
Mathematics Subject Classification ID: 93C95
Mathematics Subject Classification ID: 93D20
Mathematics Subject Classification ID: 93B05
zbMATH DE Number: 6948726
zbMATH Keywords: asymptotic stability
zbMATH Keywords: \(H_\infty\) control
zbMATH Keywords: path tracking
zbMATH Keywords: fuzzy hyperbolic tangent model
zbMATH Keywords: driver-less underground mining truck
Wikidata QID: Q59126152
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.1155/2016/9072831
OpenAlex ID: W2556582296
cites work: Fuzzy identification of systems and its applications to modeling and control
cites work: Controller Design for a Manipulator Using Theory of Variable Structure Systems
cites work: Research on Fuzzy Hyperbolic Tangent Model: A Review
cites work: Robust Stability and Diagonal Liapunov Functions
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description: scientific article; zbMATH DE number 6948726