Synchronized Tracking Control of Dynamic System of Unmanned Rear-Wheel Vehicles Based on Dynamic Analysis
Abstract
:1. Introduction
- In general, unmanned vehicle systems are typically analyzed based on their center of mass in dynamic studies due to its greater convenience for deduction, discussion, and demonstration purposes. Compared with the studies [21,27,30], instead of a mass-center vehicle, the rear-wheel drive unmanned vehicle system is studied. The corresponding dynamic control is proved and analyzed in this paper.
- The objective of our study is to develop a control scheme for an unmanned rear-wheel vehicle system that focuses on two critical control parameters: the velocity () and heading angular velocity (). By analyzing the system’s stability, we are able to derive a new control condition presented in Equation (11).
- Simulations to demonstrate the effectiveness of our proposed control scheme and system model are conducted. Moreover, the control parameters are explained and analyzed in Remark 1 and Example 2.
2. Materials and Methods
3. Results
4. Discussion
5. Conclusions
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Conflicts of Interest
References
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Rear-Wheel Drive | Center-of-Vehicle Drive | Backstepping Method | Lyapunov-Based Analysis | |
---|---|---|---|---|
[32] | Yes | Yes | No | No |
[20] | Yes | Yes | No | No |
[35] | No | Yes | No | Yes |
[36] | No | Yes | No | Yes |
[37] | No | Yes | No | Yes |
[38] | No | Yes | Yes | Yes |
[39] | No | Yes | Yes | Yes |
[40] | No | Yes | Yes | Yes |
[41] | No | Yes | Yes | No |
[42] | No | Yes | No | Yes |
[43] | No | Yes | No | Yes |
[44] | Yes | Yes | No | No |
Our method | Yes | Yes | Yes | Yes |
Four Cases | ||||
---|---|---|---|---|
tracking trajectory 1 | 1 | 1 | 50 | 50 |
tracking trajectory 2 | 3 | 3 | 50 | 50 |
tracking trajectory 3 | 1 | 1 | 10 | 50 |
tracking trajectory 4 | 1 | 1 | 50 | 20 |
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Share and Cite
Zhao, C.; Shi, K.; Tang, Y.; Xiao, J. Synchronized Tracking Control of Dynamic System of Unmanned Rear-Wheel Vehicles Based on Dynamic Analysis. Drones 2023, 7, 417. https://doi.org/10.3390/drones7070417
Zhao C, Shi K, Tang Y, Xiao J. Synchronized Tracking Control of Dynamic System of Unmanned Rear-Wheel Vehicles Based on Dynamic Analysis. Drones. 2023; 7(7):417. https://doi.org/10.3390/drones7070417
Chicago/Turabian StyleZhao, Can, Kaibo Shi, Yiqian Tang, and Jianying Xiao. 2023. "Synchronized Tracking Control of Dynamic System of Unmanned Rear-Wheel Vehicles Based on Dynamic Analysis" Drones 7, no. 7: 417. https://doi.org/10.3390/drones7070417