|Table of Contents|

Citation:
　Nengjian Wang,Hongbo Liu and Wanhui Yang.Path-tracking Control of a Tractor-aircraft System[J].Journal of Marine Science and Application,2012,(4):512-517.[doi:10.1007/s11804-012-1162-x]
Click and Copy

Path-tracking Control of a Tractor-aircraft System

Info

Title:
Path-tracking Control of a Tractor-aircraft System
Author(s):
Nengjian Wang;  Hongbo Liu and Wanhui Yang
Affilations:
Author(s):
Nengjian Wang;  Hongbo Liu and Wanhui Yang
School of Mechanical and Electrical Engineering，Harbin Engineering University, Harbin 150001, China
Keywords:
path-tracking controller;  aircraft tractor;  preconcert route;  fuzzy control;  co-simulation
分类号:
-
DOI:
10.1007/s11804-012-1162-x
Abstract:
An aircraft tractor plays a significant role as a kind of important marine transport and support equipment. It’s necessary to study its controlling and manoeuvring stability to improve operation efficiency. A virtual prototyping model of the tractor-aircraft system based on Lagrange’s equation of the first kind with Lagrange mutipliers was established in this paper. According to the towing characteristics, a path-tracking controller using fuzzy logic theory was designed. Direction control herein was carried out through a compensatory tracking approach. Interactive co-simulation was performed to validate the path-tracking behavior in closed-loop. Simulation results indicated that the tractor followed the reference courses precisely on a flat ground.

References:

De Santis RM (1994). Path-tracking for a tractor-trailer-like robot. Int J Robot Res, 13(6), 533-543.
De Santis R (1997). Modeling and path-tracking for a load-haul-dump vehicle. J. Dynam. Syst. Meas. Contr., 119, 40-47.
De Wit C, Khennouf H, Samson C, Sordalen OJ (1993). Nonlinear control design for mobile robots, recent trends in mobile robots. World Scientific Series in Robotics and Automated Systems, 11, 121-156.
Elliott AS (2000). A highly efficient, general purpose approach for cosimulation with ADAMS. MDI North Amer, User Conf., MI,.
Han F, Yang BH, Wang HD, Bi YQ(2010). The optimizing research on aircraft handling workflow. Science Technology and Engineering, 10(22), 5602-04.
Hirose S. Fukushima E, Tsukagoshi S (1995). Basic steering control methods for the articulated body mobile robot. IEEE Contr. Syst. Mag., 4, 5-14.
Kanayama Y, Kimura Y, Miyazaki F, Noguchi T (1990). A stable tracking control method for an autonomous mobile robot. IEEE Int Conf on Robotics and Automation, Cincinnati, OH, 384-389.
Kanayama Y, Kimura Y, Miyazaki F, Noguchi T (1991). A stable tracking control method for a non-holonomic mobile robot. Int Conf on Intelligent Robotics Systems, Osaka, Japan,1236-1241.
Lamiraux F, Laumond JP (1997). A practical approach to feedback control for a mobile robot with trailer. IEEE Int Conf on Robotics and Automation, leuven, Belgium, 3306-3311.
Lamiraux F, Sekhavat S, Laumond J (1999). Motion planning and control for Hilare pulling a trailer. IEEE Trans. Robot. Automat, 15, 640-652.
Lane J, King R (1994). Computer-assisted guidance of an underground mine truck. IEEE Int. Conf. Robotics and Automation, San Francisco, 420-425.
Larsson U, Zell C, Hyppa K, Wernesson A (1994). Navigating an articulated vehicle and reversing with a trailer. IEEE Int. Conf. Robotics and Automation, San Francisco, 2398-2404.
Murray RM, Sastry S (1993). Nonholonomic motion planning: Steering using sinusoids. IEEE Trans Automat Contr, 38(5), 700-716.
Nakamura Y, Ezaki H, Tan Y, Chung W (2001). Design of steering mechanism and control of nonholonomic trailer systems. IEEE Transactions on Robotics and Automation, 17(3), 367-374.
Rabinovitch J, Leitman J (1996). Urban planning in Curitiba. Sci. Amer., 274( 3), 46-53.
Rifford L (2008). Stabilization problem for nonholonomic control systems. Geometric Control and Nonsmooth Analysis, Series on Advances in Mathematics for Applied Sciences, 76, 260- 269.
Rifford L (2006). The stabilization problem on surfaces. Control Theory and Stabilization II, 64(1), 55-61.
Rifford L (2004). The stabilization problem: AGAS and SRS feedbacks. Optimal Control, Stabilization, and Nonsmooth Analysis. Lectures Notes in Control and Information Sciences, 301, 173-184.
Samson C, Ait-Abderrahim K (1991a). Feedback stabilization of a nonholonomic wheeled mobile Robot. Int Conf on Intelligent Robotics Systems, 1242-1247.
Samson C, Ait-Abderrahim K (1991b). Feedback control of a nonholonomic wheeled cart in cartesian space. IEEE Int Conf on Robotics and Automation, 1136-1141.
Sekhavat S, Lamiraux F, Laumond JP, Bauzil G, Ferrand A (1997). Motion planning and control for Hilare pulling a trailer. IEEE Int Conf on Robotics and Automation, Leuven, Belgium, 3306-3311.
Shukla S, Tiwari M (2010). Fuzzy logic of speed and steering control system for three dimensional lines following of an autonomous vehicle. International Journal of Computer Science and Information Security, 7(3), 101-108.
Wang Y (1994). Development of aircraft-towing tractor. Inter-national Aviation, 11(9), 18-20．
Yuan J, Huang YL (2006). Path following control for tractor-trailer mobile robots with two kinds of connection structures. IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, 2533-2538.

Memo

Memo:
Harbin Technological Innovation Research Fund(NO:2012RFXXG039)
Last Update: 2012-12-12