Time-domain optimization based NMPC path tracking control for underground LHD

Abstract The path tracking control of underground Load-Haul-Dump (LHD) is essential for reducing operators’ working time in underground environments and enhancing mining efficiency. Existing NMPC-based controllers often exhibit suboptimal performance, such as oscillatory movements and poor tracking...

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Bibliografiske detaljer

Principais autores:	Ya Liu, Pingan Peng, Liguan Wang, Jiaxi Wu, Ru Lei, Mingyu Lei, Chaowei Zhang, Yongqing Zhang
Format:	Artigo
Sprog:	Inglês
Udgivet:	Nature Portfolio 2025-12-01
Serier:	Scientific Reports
Fag:	Mining LHD Particle swarm optimization Nonlinear model predictive control Time-domain optimization Path tracking control
Online adgang:	https://doi.org/10.1038/s41598-025-23311-5
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