Trajectory Tracking Control for Small Electric Sweeper Based on the Hybrid Control Method

Background: 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. Methods: 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 under 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. Results: Finally, the performance of the hybrid control method is verified using the MATLAB/ Simulink platform. Conclusion: The simulation results prove the effectiveness of the hybrid control method and the good tracking performance of the electric sweeper at different driving speeds.