Path Following Control Strategy for Gantry Virtual Track Train
- Resource Type
- Conference
- Authors
- Leng, Han; Ren, Lihui; Ji, Yuanjin
- Source
- 2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC) Intelligent Transportation Systems (ITSC), 2022 IEEE 25th International Conference on. :4062-4067 Oct, 2022
- Subject
- Communication, Networking and Broadcast Technologies
Components, Circuits, Devices and Systems
Computing and Processing
Engineering Profession
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Transportation
Damping
Wheels
Focusing
Turning
Control systems
Linear programming
Stability analysis
- Language
This paper proposed a path following control strategy for the newly designed gantry virtual track train (G-VTT), focusing on the lateral control for low-speed turning manoeuvre. A local tracking objective function (LTOF) was proposed to find the optimal lateral acceleration (OLA) of the tracking point in the preview window and calculate optimal wheel steering angle (WSA) to achieve the optimal local trajectory. Considering the lag time $T_{\mathrm{d}}$ of the control system, the damping adjustment factor $\lambda$ was proposed to optimize the damping characteristics and the time-delay stability factor $\xi$ was proposed to evaluate the time-delay stability. The effectiveness of the proposed control strategy was verified by simulation.