Table of Contents Author Guidelines Submit a Manuscript
Journal of Control Science and Engineering
Volume 2016, Article ID 9072831, 9 pages
Research Article

A -Infinity Control for Path Tracking with Fuzzy Hyperbolic Tangent Model

School of Mechanical Engineering, University of Science & Technology Beijing, Beijing 100083, China

Received 6 May 2016; Revised 3 September 2016; Accepted 5 October 2016

Academic Editor: Mario Russo

Copyright © 2016 Guangsi Shi et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


To achieve the goal of driver-less underground mining truck, a fuzzy hyperbolic tangent model is established for path tracking on an underground articulated mining truck. Firstly, the sample data of parameters are collected by the driver controlling articulated vehicle at a speed of 3 m/s, including both the lateral position deviation and the variation of heading angle deviation. Then, according to the improved adaptive BP neural network model and deriving formula of mediation rate of error estimator by the method of Cauchy robust, the weights are identified. Finally, -infinity control controller is designed to control steering angle. The results of hardware-in-the-loop simulation show that lateral position deviation, heading angle deviation, and steering angle of the vehicle can be controlled, respectively, at 0.024 m, 0.08 rad, and 0.21 rad. All the deviations are asymptotically stable, and error control is in less than 2%. The method is demonstrated to be effective and reliable in path tracking for the underground vehicles.