Adaptive Sup-PID-SMC controller for Unmanned Tracked Vehicle (UTV) based on Path following control

Tracked vehicle can be referred as a type of vehicle that have two sets of metal/rubber track on each side of the vehicle instead of wheels. It is a well-known system used widely in military, agriculture and constructions to complete a difficult tasks and mission. Due to importance of tracked vehicle, a lot of researchers have been studying it in many aspects such as power system, suspension system and its prospect in autonomous vehicle technology. The latter demands the development of the path following controller that allows the vehicle to follow a specified path autonomously. However, the parameter of path following controller needs continuous tuning for each set of predefined paths on various tracked vehicle speed. In order to overcome this weakness, an adaptive mechanism is proposed to the modified Sup’s controller so that the controller’s parameters will be adjusted automatically based on predefined path and driving condition. The work presented in this thesis focuses on the design an adaptive path following control of fuzzy supervisory system and evaluate the proposed path following controller using Hardware-In-Loop Simulations (HILS). In development stage, the proposed adaptive path following controller was compared against the original controller in terms of tracked vehicle global coordinates and its lateral error. The results show that by applying adaptive controller, the tracked vehicle can follow the desired path with up to 41% of improvement in terms of lateral error. Then, for the validation through HILS, the result shown that the tracked vehicle was able to follow the predefined path with the actual actuation by the tracked vehicle motor with the control signals generated by the proposed controller.