This paper investigates a dynamic motion planning approach and an adaptive tracking control scheme for a class of two-wheeled autonomous vehicle with an underactuated pendular suspension subject to nonholonomic constraint. Compared with the wheeled inverted pendulum system, this kind of two-wheeled pendular suspension (WPS) vehicle is more suitable for autonomous exploration in the complex unstructured environment. By Lagrange principle, a four-independent-coordinate dynamic model, which can describe the multivariate, nonlinear, and underactuated characteristics of the system, is first proposed. Besides, a reduced order dynamic is developed in the following so as to tackle the nonholonomic problem, and then the three-independent-coordinate reduced order dynamic is divided into an actuated part constituted by the rotational subsystem, and an underactuated part combined by the longitudinal and the swing angle subsystems. The sliding mode control (SMC) technique is utilized to construct the controller; especially, a composite sliding mode surface is proposed which can realize the velocity tracking and oscillation suppression for pendular suspension simultaneously. Furthermore, the adaptive mechanism is employed to update the true values of the inaccessible physical parameters which can enhance the adaptability of the WPS vehicle in unstructured environment. In addition, a dynamic motion planning method is presented, by aid of which the vehicle can track an arbitrary trajectory in Cartesian coordinate. The simulation results show the effectiveness and merits of the proposed control approaches.
Skip Nav Destination
Article navigation
October 2015
Research-Article
Dynamic Motion Planning and Adaptive Tracking Control for a Class of Two-Wheeled Autonomous Vehicle With an Underactuated Pendular Suspension
Ming Yue,
Ming Yue
School of Automotive Engineering,
Dalian University of Technology
,Dalian, Liaoning 116024
, China
State Key Laboratory of Robotics and System,
e-mail: yueming@dlut.edu.cn
Harbin Institute of Technology
,Harbin, Heilongjiang 150001
, China
e-mail: yueming@dlut.edu.cn
Search for other works by this author on:
Xiaojie Sun,
Xiaojie Sun
School of Automotive Engineering,
Dalian University of Technology
,Dalian, Liaoning 116024
, China
Search for other works by this author on:
Nan Li,
Nan Li
School of Automotive Engineering,
Dalian University of Technology
,Dalian, Liaoning 116024
, China
Search for other works by this author on:
Cong An
Cong An
School of Automotive Engineering,
Dalian University of Technology
,Dalian, Liaoning 116024
, China
Search for other works by this author on:
Ming Yue
School of Automotive Engineering,
Dalian University of Technology
,Dalian, Liaoning 116024
, China
State Key Laboratory of Robotics and System,
e-mail: yueming@dlut.edu.cn
Harbin Institute of Technology
,Harbin, Heilongjiang 150001
, China
e-mail: yueming@dlut.edu.cn
Xiaojie Sun
School of Automotive Engineering,
Dalian University of Technology
,Dalian, Liaoning 116024
, China
Nan Li
School of Automotive Engineering,
Dalian University of Technology
,Dalian, Liaoning 116024
, China
Cong An
School of Automotive Engineering,
Dalian University of Technology
,Dalian, Liaoning 116024
, China
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received January 15, 2015; final manuscript received May 30, 2015; published online July 14, 2015. Assoc. Editor: Beshah Ayalew.
J. Dyn. Sys., Meas., Control. Oct 2015, 137(10): 101006 (11 pages)
Published Online: October 1, 2015
Article history
Received:
January 15, 2015
Revision Received:
May 30, 2015
Online:
July 14, 2015
Citation
Yue, M., Sun, X., Li, N., and An, C. (October 1, 2015). "Dynamic Motion Planning and Adaptive Tracking Control for a Class of Two-Wheeled Autonomous Vehicle With an Underactuated Pendular Suspension." ASME. J. Dyn. Sys., Meas., Control. October 2015; 137(10): 101006. https://doi.org/10.1115/1.4030785
Download citation file:
Get Email Alerts
Cited By
Fault detection of automotive engine system based on Canonical Variate Analysis combined with Bhattacharyya Distance
J. Dyn. Sys., Meas., Control
Multi Combustor Turbine Engine Acceleration Process Control Law Design
J. Dyn. Sys., Meas., Control (July 2025)
Related Articles
Tracking Design of an Omni-Direction Autonomous Ground Vehicle by Hierarchical Enhancement Using Fuzzy Second-Order Variable Structure Control
J. Dyn. Sys., Meas., Control (September,2018)
Exponential Stabilization of Fully Actuated Planar Bipedal Robotic Walking With Global Position Tracking Capabilities
J. Dyn. Sys., Meas., Control (May,2018)
Composite Path Tracking Control for Tractor–Trailer Vehicles Via Constrained Model Predictive Control and Direct Adaptive Fuzzy Techniques
J. Dyn. Sys., Meas., Control (November,2017)
Hierarchical Sliding Mode Control for the Trajectory Tracking of a Tendon-Driven Manipulator
J. Mechanisms Robotics (December,2023)
Related Proceedings Papers
Related Chapters
Time-Varying Coefficient Aided MM Scheme
Robot Manipulator Redundancy Resolution
Feedback-Aided Minimum Joint Motion
Robot Manipulator Redundancy Resolution
QP Based Encoder Feedback Control
Robot Manipulator Redundancy Resolution