Linear controller for wheel loader trajectory tracking

The paper proposes a trajectory-tracking controller for an autonomous small-sized skidsteer wheel loader. The control system consists of two parts: feedforward control and feedback control. The open loop control uses the wheel loader desired velocities and accelerations. The feedback controller is a state-space feedback controller based on a linearized kinematic model.

Authors

Publication Details

Journal
Bulletin of Kharkov National Automobile and Highway University
Published
2024-12-26
DOI
https://doi.org/10.30977/bul.2219-5548.2024.107.0.14
Primary Topic
Hydraulic and Pneumatic Systems
Type
article
Field-Weighted Citation Impact
0.00
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article

Linear controller for wheel loader trajectory tracking

Igor Kyrychenko, Alexander Gurko, V. G. Verbitsky
Bulletin of Kharkov National Automobile and Highway University
Hydraulic and Pneumatic Systems
article

Linear controller for wheel loader trajectory tracking

Igor Kyrychenko, Alexander Gurko, V. G. Verbitsky
article en

Abstract

The paper proposes a trajectory-tracking controller for an autonomous small-sized skidsteer wheel loader. The control system consists of two parts: feedforward control and feedback control. The open loop control uses the wheel loader desired velocities and accelerations. The feedback controller is a state-space feedback controller based on a linearized kinematic model.

Bulletin of Kharkov National Automobile and Highway University(107)
Affordable and clean energy
Openalex Percentile: Top 75%
Hydraulic and Pneumatic Systems
DOIOpen Access PDFOpenAlex
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Linear controller for wheel loader trajectory tracking — Igor Kyrychenko, Alexander Gurko, et al. · Bulletin of Kharkov National Automobile and Highway University (2024) | TGRS Research Map | TGRS