Path Tracking of Mining Vehicles Based on Nonlinear Model Predictive Control

Abstract

Path tracking of mining vehicles plays a significant role in reducing the working time of operators in the underground environment. Because the existing path tracking control of mining vehicles, based on model predictive control, is not very effective when the longitudinal velocity of the vehicle is above 2 m/s, we have devised a new controller based on nonlinear model predictive control. Then, we compare this new controller with the existing model predictive controller. In the results of our simulation, the tracking accuracy of our controller at the longitudinal velocity of 4 m/s is close to that of the existing model predictive controller, at the longitudinal velocity of 2 m/s. When longitudinal velocity is 4 m/s, the existing model predictive controller cannot drive the mining vehicle to track the given path, but our nonlinear model predictive controller can, and the maximum displacement error and heading error are 0.1382 m and 0.0589 rad, respectively. According to these results, we believe that this nonlinear model predictive controller can be used to improve the performance of the path tracking of mining vehicles.

Keywords

• mining vehicle
• articulated vehicle
• path tracking
• nonlinear model predictive control
• nonlinear control systems