Path-Tracking Cascade Control of Hydraulic- Tracked Vehicles Based on Port-Controlled Hamiltonian Model

Authors

Junjie Gong, Shengjie Guo, Haotian Shen, Wei Wei, Yu Long

Abstract

Path-tracking control represents a crucial technology for achieving autonomous driving in tracked vehicles. This paper presents a novel cascade control approach based on a port-controlled Hamiltonian model that incorporates position, velocity, and flow loops to improve the robustness and stability of path-tracking in tracked vehicles. Firstly, the nonlinear kinematic model undergoes an equivalent transformation to tackle the challenge of converting the hydraulic-tracked vehicle kinematic model into a port-controlled Hamiltonian model. The effectiveness of this substitution is evaluated through a phase portrait analysis. Subsequently, an interconnection and damping assignment passivity-based controller is formulated to achieve position control and generate a desired velocity reference. Leveraging the dynamics of the tracked vehicle, a velocity controller is developed to calculate the desired vehicle torque and hydraulic motor angular velocity, facilitating velocity tracking. Flow control is realized through a novel passivity-based L2-gain robust control method designed in conjunction with the port-controlled Hamiltonian model. This method empowers the electro-hydraulic servo system to track the desired angular velocity at the expected torque, mitigating the adverse impact of the electro-hydraulic servo system on the tracking performance of tracked vehicles. Finally, a comprehensive comparison is made with two existing control strategies. The results show that the overall performance of the controller is improved by 20.3% and 10.92%, and the tracking accuracy is improved by 15.01% and 5.97%, respectively.

Citation

• Journal: IEEE Transactions on Intelligent Vehicles
• Year: 2025
• Volume: 10
• Issue: 1
• Pages: 654–667
• Publisher: Institute of Electrical and Electronics Engineers (IEEE)
• DOI: 10.1109/tiv.2024.3417213

BibTeX

@article{Gong_2025,
  title={{Path-Tracking Cascade Control of Hydraulic- Tracked Vehicles Based on Port-Controlled Hamiltonian Model}},
  volume={10},
  ISSN={2379-8858},
  DOI={10.1109/tiv.2024.3417213},
  number={1},
  journal={IEEE Transactions on Intelligent Vehicles},
  publisher={Institute of Electrical and Electronics Engineers (IEEE)},
  author={Gong, Junjie and Guo, Shengjie and Shen, Haotian and Wei, Wei and Long, Yu},
  year={2025},
  pages={654--667}
}

Download the bib file

References

• Ruslan NAI, Amer NH, Hudha K, Kadir ZA, Ishak SAFM, Dardin SMFS (2023) Modelling and control strategies in path tracking control for autonomous tracked vehicles: A review of state of the art and challenges. Journal of Terramechanics 105:67–79. https://doi.org/10.1016/j.jterra.2022.10.003 – 10.1016/j.jterra.2022.10.003
• Feng H, Jiang J, Chang X, Yin C, Cao D, Yu H, Li C, Xie J (2023) Adaptive sliding mode controller based on fuzzy rules for a typical excavator electro-hydraulic position control system. Engineering Applications of Artificial Intelligence 126:107008. https://doi.org/10.1016/j.engappai.2023.107008 – 10.1016/j.engappai.2023.107008
• Li Y, He D, Ma F, Liu P, Liu Y (2023) MPC-based trajectory tracking control of unmanned underwater tracked bulldozer considering track slipping and motion smoothing. Ocean Engineering 279:114449. https://doi.org/10.1016/j.oceaneng.2023.114449 – 10.1016/j.oceaneng.2023.114449
• Pei T, Yan B, Liu Z, Zhao Z (2023) Dynamic ground pressure prediction of heavy-duty construction vehicles considering crawler parameters. J Braz Soc Mech Sci Eng 45(3):158. https://doi.org/10.1007/s40430-023-04076-2 – 10.1007/s40430-023-04076-2
• Byeon K, You S, Lee Y, Kim S, Kang D, Choi J, Kim W (2024) Robust Arbitrary-Time Path-Tracking Control Using Reduced Order Kinematic Model for Unmanned Ground Vehicles. IEEE Trans Intell Transport Syst 25(5):4089–4101. https://doi.org/10.1109/tits.2023.3329997 – 10.1109/tits.2023.3329997
• Zhang L, Hu M, Zhang H, Bian Y, Nguyen A-T, Ding R (2023) Channel-Level Event-Triggered Communication Scheme for Path Tracking Control of Autonomous Ground Vehicles With Distributed Sensors. IEEE Trans Veh Technol 72(10):12553–12566. https://doi.org/10.1109/tvt.2023.3274111 – 10.1109/tvt.2023.3274111
• Jin X, Dai S-L, Liang J (2023) Fixed-Time Path-Following Control of an Autonomous Vehicle With Path-Dependent Performance and Feasibility Constraints. IEEE Trans Intell Veh 8(1):458–468. https://doi.org/10.1109/tiv.2021.3119989 – 10.1109/tiv.2021.3119989
• Wu G, Wang G, Bi Q, Wang Y, Fang Y, Guo G, Qu W (2023) Research on unmanned electric shovel autonomous driving path tracking control based on improved pure tracking and fuzzy control. Journal of Field Robotics 40(7):1739–1753. https://doi.org/10.1002/rob.22208 – 10.1002/rob.22208
• Amokrane S-B, Laidouni MZ, Adli T, Madonski R, Stanković M (2024) Active disturbance rejection control for unmanned tracked vehicles in leader–follower scenarios: Discrete-time implementation and field test validation. Mechatronics 97:103114. https://doi.org/10.1016/j.mechatronics.2023.103114 – 10.1016/j.mechatronics.2023.103114
• Zou T, Angeles J, Hassani F (2018) Dynamic modeling and trajectory tracking control of unmanned tracked vehicles. Robotics and Autonomous Systems 110:102–111. https://doi.org/10.1016/j.robot.2018.09.008 – 10.1016/j.robot.2018.09.008
• Li X, Liu X, Wang G, Gu K, Che H (2022) Discrete open-closed-loop PID-type iterative learning control for trajectory tracking of tracked mobile robots. International Journal of Advanced Robotic Systems 19(6):172988062211372. https://doi.org/10.1177/17298806221137247 – 10.1177/17298806221137247
• He D, Li Y, Meng X, Si Q (2022) Anti-slip Control for Unmanned Underwater Tracked Bulldozer Based on Active Disturbance Rejection Control. Mechatronics 84:102803. https://doi.org/10.1016/j.mechatronics.2022.102803 – 10.1016/j.mechatronics.2022.102803
• Liu M, Xu Y, Lin X, Tan Y, Pu Y, Li W, Oetomo D (2023) On Active Disturbance Rejection Control for Unmanned Tracked Ground Vehicles with Nonsmooth Disturbances. Un Sys 12(06):1023–1037. https://doi.org/10.1142/s2301385024500353 – 10.1142/s2301385024500353
• Sabiha AD, Kamel MA, Said E, Hussein WM (2022) ROS-based trajectory tracking control for autonomous tracked vehicle using optimized backstepping and sliding mode control. Robotics and Autonomous Systems 152:104058. https://doi.org/10.1016/j.robot.2022.104058 – 10.1016/j.robot.2022.104058
• Yao S, Gao G, Gao Z (2021) On multi-axis motion synchronization: The cascade control structure and integrated SMC–ADRC design. ISA Transactions 109:259–268. https://doi.org/10.1016/j.isatra.2020.10.012 – 10.1016/j.isatra.2020.10.012
• Ma Y, Chen J, Wang J, Xu Y, Wang Y (2022) Path-Tracking Considering Yaw Stability With Passivity-Based Control for Autonomous Vehicles. IEEE Trans Intell Transport Syst 23(7):8736–8746. https://doi.org/10.1109/tits.2021.3085713 – 10.1109/tits.2021.3085713
• Xu Z, Sun C, Hu X, Liu Q, Yao J (2023) Barrier Lyapunov Function-Based Adaptive Output Feedback Prescribed Performance Controller for Hydraulic Systems With Uncertainties Compensation. IEEE Trans Ind Electron 70(12):12500–12510. https://doi.org/10.1109/tie.2023.3236114 – 10.1109/tie.2023.3236114
• Fierro R, Lewis FL (1997) Control of a nonholomic mobile robot: Backstepping kinematics into dynamics. J Robotic Syst 14(3):149–163. https://doi.org/10.1002/(sici)1097-4563(199703)14:3<149::aid-rob1>3.0.co;2-r – 10.1002/(sici)1097-4563(199703)14:3<149::aid-rob1>3.0.co;2-r
• Yang J, Zhang T, Zhang H, Hong J (2023) Electrohydraulic Power Switching Control for Mechatronics–Electrohydraulic Power Coupling Electric Vehicles Considering Optimal Speed Thresholds. Energy Tech 11(9):2300082. https://doi.org/10.1002/ente.202300082 – 10.1002/ente.202300082
• Li S, Yan Y, Jiang D, Guo Q (2023) Synchronized control of multiple electrohydraulic systems with terminal sliding mode observer under parametric uncertainty and external load. ISA Transactions 133:475–484. https://doi.org/10.1016/j.isatra.2022.06.044 – 10.1016/j.isatra.2022.06.044
• Xu T, Liu Y, Cao X, Ji X (2022) Cascaded Steering Control Paradigm for the Lateral Automation of Heavy Commercial Vehicles. IEEE Trans Transp Electrific 8(2):2346–2360. https://doi.org/10.1109/tte.2021.3134023 – 10.1109/tte.2021.3134023
• Kumar L, Dhillon SS (2023) Tracking control design for fractional order systems: A passivity-based port-Hamiltonian framework. ISA Transactions 138:1–9. https://doi.org/10.1016/j.isatra.2023.03.024 – 10.1016/j.isatra.2023.03.024
• Ma Y, He L, Song T, Wang D (2023) Adaptive Path-Tracking Control With Passivity-Based Observer by Port-Hamiltonian Model for Autonomous Vehicles. IEEE Trans Intell Veh 8(8):4120–4130. https://doi.org/10.1109/tiv.2023.3290556 – 10.1109/tiv.2023.3290556
• Zhang X, Lu Z, Yuan X, Wang Y, Shen X (2021) L2-Gain Adaptive Robust Control for Hybrid Energy Storage System in Electric Vehicles. IEEE Trans Power Electron 36(6):7319–7332. https://doi.org/10.1109/tpel.2020.3041653 – 10.1109/tpel.2020.3041653
• Uddin MN, Zhai Z, Amin IK (2020) Port Controlled Hamilton With Dissipation-Based Speed Control of IPMSM Drive. IEEE Trans Power Electron 35(2):1742–1752. https://doi.org/10.1109/tpel.2019.2918679 – 10.1109/tpel.2019.2918679
• Pang S, Nahid-Mobarakeh B, Hashjin SA, Pierfederici S, Martin J-P, Liu Y, Huangfu Y, Luo G, Gao F (2021) Stability Improvement of Cascaded Power Conversion Systems Based on Hamiltonian Energy Control Theory. IEEE Trans on Ind Applicat 57(1):1081–1093. https://doi.org/10.1109/tia.2020.3038355 – 10.1109/tia.2020.3038355
• Meng X, Yu H, Zhang J (2023) An EPCH Control Strategy for Complex Nonlinear Systems with Actuator Saturation and Disturbances. Information Sciences 625:639–655. https://doi.org/10.1016/j.ins.2023.01.005 – 10.1016/j.ins.2023.01.005
• Lv C, Yu H, Chen J, Zhao N, Chi J (2022) Trajectory tracking control for unmanned surface vessel with input saturation and disturbances via robust state error IDA-PBC approach. Journal of the Franklin Institute 359(5):1899–1924. https://doi.org/10.1016/j.jfranklin.2022.01.036 – 10.1016/j.jfranklin.2022.01.036
• Zhang H, Wu J, An Y, Xie P, Cui D (2023) Research on Trajectory-Tracking Control System of Tracked Wall-Climbing Robots. Sensors 24(1):144. https://doi.org/10.3390/s24010144 – 10.3390/s24010144