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Trajectory tracking control for small electric sweeper based on the hybrid control method



Trajectory tracking, one of the critical automatic driving technologies, is significant for the operation of small electric sweepers working in complex road environments, such as campuses and closed parks.



This paper investigates a trajectory tracking control system for small self-driving electric sweepers on roads with different operating speed requirements. A hybrid control method combining sliding mode control and model predictive control is proposed, with sliding mode control operating un-der low-speed (<2 m/s) conditions, and model predictive control operating under high-speed <2 m/s) conditions. An improved sliding mode controller based on the kinematic model is designed to reduce chattering, and a model predictive controller based on the dynamics model is constructed.



Finally, the performance of the hybrid control method is verified using the MATLAB/Simulink platform.



The simulation results prove the effectiveness of the hybrid control method and the good tracking performance of the electric sweeper at different driving speeds.
