Feedback linearization control for path tracking of articulated dump truck

Abstract

The articulated dump truck is a widespread transport vehicle for narrow rough terrain environment. To achieve the autonomous driving in the underground tunnel, this article proposes a path following strategy -for articulated vehicle based on feedback linearization algorithm. First of all, the kinematic model of articulated vehicle, which reflects the relationship between the structure parameters and state variables, has been established. Referring to the model, the nonlinear errors equation between real path and reference path, which are as the feedback from the path tracking process, has been solved and linearized. After estimating the system controllability, the path following controller with feedback linearization algorithm has been designed through calculating the parameters with the pole assignment according to the error equation. Finally, the Hardware-In-the-Loop simulation on NI cRIO and PXI controller has been -conducted for verifying the control quality and real-time path tracking performance. The result shows that the path tracking controller with feedback linearization can track the reference path accurately.