TUTCRIS - Tampereen teknillinen yliopisto

TUTCRIS

Nonlinear model predictive control of a heavy-duty hydraulic bulldozer blade

Tutkimustuotosvertaisarvioitu

Yksityiskohdat

AlkuperäiskieliEnglanti
OtsikkoProceedings of the IEEE 2019 9th International Conference on Cybernetics and Intelligent Systems (CIS) and Robotics, Automation and Mechatronics (RAM)
KustantajaIEEE
Sivut565-570
Sivumäärä6
ISBN (elektroninen)978-1-7281-3458-1
ISBN (painettu)978-1-7281-3459-8
DOI - pysyväislinkit
TilaJulkaistu - 2019
OKM-julkaisutyyppiA4 Artikkeli konferenssijulkaisussa
TapahtumaIEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM) -
Kesto: 1 tammikuuta 2000 → …

Julkaisusarja

NimiIEEE International Conference on Cybernetics and Intelligent Systems
ISSN (painettu)2326-8123
ISSN (elektroninen)2326-8239

Conference

ConferenceIEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM)
LyhennettäCIS-RAM
Ajanjakso1/01/00 → …

Tiivistelmä

In this paper, we present a study on nonlinear model predictive control (NMPC) of a bulldozer blade actuated by hydraulic cylinders. We design the controller in the manipulator joint space to track the desired joint angle trajectory. We specify the desired blade cut edge trajectory in the world reference frame and map it to the joint space. In the mapping, we consider the vehicle body orientation and generate a preview of the desired trajectory for the NMPC by estimating the future orientation based on its current value. We test the performance of our controller in MATLAB Simscape. The results show that the proposed controller tracks the desired world frame position with sub-centimeter accuracy regardless of the vehicle body motion and inclination.

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