Coordination Control Method of Longitudinal and Lateral Manipulation for Driving Robot

doi:10.3901/JME.2021.11.165

Abstract

Abstract: In order to realize accurate control of driving robot, a coordination control method of longitudinal and lateral manipulation for driving robot is proposed. Firstly, the system structure is analyzed, and the coupling dynamic model of longitudinal and lateral manipulation for driving robot is established. Then the coordination control strategy of longitudinal and lateral manipulation for driving robot is analyzed. On the basis of this, the fuzzy sliding mode controllers of accelerator and brake manipulation leg are designed, and the robust backstepping controller of steer manipulation arm is designed. The controllers are used to achieve the accurate and stable coordination control of longitudinal and lateral manipulation for driving robot. Simulation and experiment results show that the proposed method can make driving robot manipulate the test vehicle precisely and steadily, so that frequent switch of acceleration and brake can be avoided, and effective coordination control of accelerator mechanical leg and brake mechanical leg and steering mechanical arm for driving robot can be achieved.

Key words: driving robot, longitudinal and lateral manipulation, coordination control, fuzzy sliding mode, robust backstepping

CLC Number:

U461

CHEN Gang, GU Aibo, WANG Liangmo, LI Xu, ZHANG Weigong. Coordination Control Method of Longitudinal and Lateral Manipulation for Driving Robot[J]. Journal of Mechanical Engineering, 2021, 57(11): 165-176.

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