|Table of Contents|

Trajectory tracking control of coaxial two-wheeled vehicles considering multiple uncertain sources(PDF)

长安大学学报（自然科学版）[ISSN:1006-6977/CN:61-1281/TN]

Issue:
2026年2期
Page:
168-179
Research Field:
汽车与机械工程
Publishing date:

Info

Title:
Trajectory tracking control of coaxial two-wheeled vehicles considering multiple uncertain sources
Author(s):
NING Yi-gao;  ZHAO Xuan*;  ZHOU Meng;  FANG Xi-bo
(School of Automobile, Chang'an University, Xi'an 710018, Shaanxi, China)
Keywords:
automotive engineering;  controller;  interval type-2 fuzzy logic;  coaxial two-wheeled vehicles;  RBF neural network;  trajectory tracking
PACS:
U469
DOI:
10.19721/j.cnki.1671-8879.2026.02.012
Abstract:
To make the coaxial two-wheeled vehicle realize a precise trajectory tracking control under multiple uncertain sources from the vehicle itself and external environment, a trajectory tracking control scheme based on interval type-2 fuzzy logic(IT2FL)and radial basis function(RBF)neural network was proposed. Specifically, the vehicle dynamics model was deduced by Lagrangian equation, and the trajectory tracking problem was transformed to be a problem of desired longitudinal velocity and steering angular velocity tracking through errors transform. The whole vehicle system was decoupled into an actuated steering subsystem and an underactuated longitudinal subsystem to be controlled separately. The longitudinal and steering subsystem controllers were designed by IT2FL and RBF neural network, separately, and the stabilization of the vehicle body and the coordination between longitudinal and steering tracking control were realized. The closed-loop system's stability and convergence of tracking error were demonstrated based on Hamilton-Jacobi inequality in the sense of Lyapunov stability theory. On that basis, comparative simulation experiments were conducted under the same initial conditions for the proposed method and existing two methods(the method based on type-1 fuzzy logic and feedforward control without adaptive RBF as well as the method based on linear quadratic regulator and sliding mode control). Research results show the trajectory tracking control of coaxial two-wheeled vehicles cannot be implemented with comparison methods in uncertain condition, and the maximum tilt angle velocity and position errors reach 0.32 rad·s-1 and 3.37 m, respectively. But the robust tracking control can be realized with the proposed method, related uncertain influences can be overcome effectively, and the maximum tilt angle velocity and position error are less than 0.12 rad·s-1 and 0.22 m except the initial fluctuation caused by the existence of initial tilt angle, respectively, thus the feasibility and superior performance of the proposed method are validated.4 tabs, 6 figs, 32 refs.

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Last Update: 2026-04-20