Development of positioning and trajectory tracking controller for Caterpillar Vehicles with unknown environment :Doctor of Philosophy - Major: Mechanical Design Engineering

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Thesis for the Degree of Doctor of Philosophy

Development of Positioning and Trajectory

Tracking Controller for Caterpillar

Vehicles with Unknown Environment

by

Van Lanh Nguyen

Department of Mechanical Design Engineering

The Graduate School

Pukyong National University

August 2020

Development of Positioning and Trajectory

Tracking Controller for Caterpillar

Vehicles with Unknown Environment

미지환경에서의 캐터필러차량용 위치결정과

궤도추적 제어기의 개발

by

Van Lanh Nguyen

Advisor: Professor Sang Bong Kim

A thesis submitted in partial fulfillment of the requirements for

the degree of Doctor of Philosophy

In the Department of Mechanical Design Engineering,

The Graduate School,

Pukyong National University

August 2020

Development of Positioning and Trajectory Tracking

Controller for Caterpillar Vehicles

with Unknown Environment

A dissertation

by

Van Lanh Nguyen

Approved as to styles and contents by:

(Chairman) Yeon Wook Choe

(Member) Gi Sik Byun (Member) Sea June Oh

(Member) Young Bok Kim (Member) Sang Bong Kim

June 25th, 2020

i

Acknowledgments

It is a pleasure to express my gratefulness to all the helps and

continuous supports from professors, colleagues, friends, and family.

First of all, I would like to express the most gratitude to Professor Sang

Bong Kim for his valuable advice, guidance, and support since my first

days studying and living in Korea. His kindness, insight supports, the

direction and skill of research, and strong motivation encouraged and

helped me to accomplish my research and finish this dissertation

scientifically. I would like to wish my Professor and his family to have

the long-lived health and happiness.

I would like to thank the members of my thesis committee: Prof.

Yeon Wook Choe, Prof. Gi Sik Byun, Prof. Sea Jun Oh, and Prof.

Young Bok Kim who have provided wonderful feedback on my work

and great suggestions for better contribution of my dissertation.

I would like to thank Prof. Hak Kyeong Kim for his great helps and

advice to research and complete this dissertation. I could not finish my

dissertation on time without his great help and advice.

I am grateful to Prof. Tan Tien Nguyen, from Ho Chi Minh

University of Technology for essential assistances. I would like to thank

all members of CIMEC Lab. for giving me a comfortable and active

environment to achieve my work: Dr Dae Hwan Kim, Dr. Jotje

Rantung, Minh Thien Tran, Sung Won Kim, Chang Kyu Kim, Sung

Rak Kim, Dong Yong Kim, Chetan Chunilal Patel, and all other foreign

friends.

ii

Thanks are due to all members of Vietnamese Students’ Association

in Korea, especially Dr. Huy Hung Nguyen, Dr. Van Tu Duong, Dr.

Manh Son Tran, Dr. Phuc Thinh Doan, Dr. Thanh Luan Bui, Thanh An

Do, Duc Quan Tran, Van Trong Nguyen for their vigorous support.

Finally, I would like to thank to my mother, my wife, my brother,

my sister, and all my close relatives for their love, endless

encouragements for me not only in the dissertation time but also in the

whole of my life.

Pukyong National University, Busan, Korea

June 25th, 2020

Nguyen Van Lanh

iii

Contents

Acknowledgments........................................................................ i

Contents ............................................................................... iii

Abstract .............................................................................. vii

국문 요약서 .................................................................................x

List of Figures.......................................................................... xiii

List of Tables ...........................................................................xvii

Abbreviation .............................................................................xix

Nomenclatures...........................................................................xx

Chapter 1: Introduction ............................................................1

1.1 Background and Motivation.................................................1

1.1.1 SLAM algorithm based on EKF ....................................8

1.1.2 Model reference adaptive control ..................................9

1.1.3 MIMO robust servo control.........................................10

1.2 Problem statements............................................................12

1.3 Objective and researching method.....................................13

1.4 Outline of the dissertation and summary of contributions..16

Chapter 2: System Description and Modeling..........................21

2.1 Introduction .......................................................................21

2.2 Mechanical design .............................................................21

2.2.1 Top cover....................................................................21

iv

2.2.2 Body frame .................................................................22

2.2.3 Wheel system..............................................................23

2.2.4 Connector ...................................................................26

2.3 Electrical design ................................................................26

2.3.1 Controller....................................................................29

2.3.2 Sensors........................................................................31

2.3.3 Actuator......................................................................38

2.3.4 Power supply and emergency button ...........................44

2.4 System modeling ...............................................................46

2.4.1 Kinematic modeling ....................................................46

2.4.2 Dynamic modeling......................................................53

Chapter 3: Positioning System Based on SLAM Algorithm Using

Lidar Sensor..........................................................57

3.1 Introduction .......................................................................57

3.2 Concept of a SLAM...........................................................57

3.3. Landmark detection algorithm using Lidar sensor.............59

3.4. Positioning algorithm using encoders................................63

3.5. Extended Kalman Filter ....................................................66

3.5.1 EKF prediction Step....................................................68

3.5.2 EKF update Step .........................................................72

3.6 Summary ...........................................................................78

Chapter 4: Trajectory Tracking Controller Design Using a

Backstepping Control Method..............................80