Model-based Computed Torque Control of a differential driven automated vehicle

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Model-based Computed Torque Control of a differential driven automated vehicle

Rajagopalan, R. / Barakat, N.

This paper addresses the issue of Computed Torque Control (CTC) for Automated Transit Vehicles and Automated Guided Vehicles (ATVs/AGVs). This control scheme makes use of the dynamics of the vehicular system to pre-compute the torque required to drive the actuators of the vehicle to achieve proper road/track following. Extensive research material is available in the literature on the applicability of the computed torque control scheme for stationary robot arms. In contrast, very little information is available on the suitability of the computed torque control scheme for automated vehicles. A control scheme making use of the dynamics of the vehicle has been designed for a vehicle with differential drive. Mathematical formulations to compute the required motor currents using an inverse dynamic model to drive the vehicle at the desired linear and angular accelerations is presented. Some of the instants that require the use of computed torque control are payload variations, variations in the distribution of the load, lane changing, negotiating a road with curved and straight segments and going uphill/downhill, to name a few. Since the dynamics of the vehicular system change during these instants it is believed that the CTC scheme will assure proper road following. Simulation studies of the proposed scheme has been carried out for payload changes and the results are encouraging.