Jove
Visualize
Contact Us
JoVE
x logofacebook logolinkedin logoyoutube logo
ABOUT JoVE
OverviewLeadershipBlogJoVE Help Center
AUTHORS
Publishing ProcessEditorial BoardScope & PoliciesPeer ReviewFAQSubmit
LIBRARIANS
TestimonialsSubscriptionsAccessResourcesLibrary Advisory BoardFAQ
RESEARCH
JoVE JournalMethods CollectionsJoVE Encyclopedia of ExperimentsArchive
EDUCATION
JoVE CoreJoVE BusinessJoVE Science EducationJoVE Lab ManualFaculty Resource CenterFaculty Site
Terms & Conditions of Use
Privacy Policy
Policies

Related Concept Videos

PD Controller: Design01:26

PD Controller: Design

193
In automotive engineering, car suspension systems often employ Proportional Derivative (PD) controllers to enhance performance. PD controllers are utilized to adjust the damping force in response to road conditions. A controller, acting as an amplifier with a constant gain, demonstrates proportional control, with output directly mirroring input.
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
193

You might also read

Related Articles

Articles linked to this work by shared authors, journal, and citation graph.

Sort by
Same author

Characterization and source apportionment of halogenated organic pollutants in sediments from the Daya Bay, South China Sea.

Marine pollution bulletin·2026
Same author

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

Scientific reports·2025
Same author

Effect of warm acupuncture and acupoint massage on postoperative gastrointestinal function in gastric cancer surgery patients: A meta-analysis.

World journal of gastrointestinal surgery·2025
Same author

Regulation of Light Absorption and Energy Dissipation in Sweet Sorghum Under Climate-Relevant CO<sub>2</sub> and Temperature Conditions.

Biology·2025
Same author

Tracing anthropogenic imprints on polybrominated and polychlorinated dibenzo-p-dioxin/furans in soil: A comprehensive field study in an urban agglomeration of China.

Environmental research·2025
Same author

The Progress of Autologous Hematopoietic Stem Cell Transplantation in the Treatment of Multiple Myeloma (Review).

Technology in cancer research & treatment·2025

Related Experiment Video

Updated: Jun 7, 2025

Operation of the Collaborative Composite Manufacturing CCM System
10:09

Operation of the Collaborative Composite Manufacturing CCM System

Published on: October 1, 2019

6.6K

PSO-NMPC control strategy based path tracking control of mining LHD (scraper).

Ya Liu1, Ping-An Peng2,3, Li-Guan Wang1

  • 1School of Resources and Safety Engineering, Central South University, Changsha, 410083, China.

Scientific Reports
|November 18, 2024
PubMed
Summary

This study introduces a Particle Swarm Optimization-integrated Nonlinear Model Predictive Control (PSO-NMPC) strategy to improve the path tracking of underground Load-Haul-Dump (LHD) vehicles. The enhanced controller significantly reduces trajectory deviations, especially on complex curved paths.

Keywords:
Mining LHDNonlinear model predictive controlPSO-NMPC control strategyParticle swarm optimization algorithmPath tracking control

More Related Videos

A Protocol for Real-time 3D Single Particle Tracking
10:16

A Protocol for Real-time 3D Single Particle Tracking

Published on: January 3, 2018

14.8K
Optimization, Test and Diagnostics of Miniaturized Hall Thrusters
12:22

Optimization, Test and Diagnostics of Miniaturized Hall Thrusters

Published on: February 16, 2019

8.9K

Related Experiment Videos

Last Updated: Jun 7, 2025

Operation of the Collaborative Composite Manufacturing CCM System
10:09

Operation of the Collaborative Composite Manufacturing CCM System

Published on: October 1, 2019

6.6K
A Protocol for Real-time 3D Single Particle Tracking
10:16

A Protocol for Real-time 3D Single Particle Tracking

Published on: January 3, 2018

14.8K
Optimization, Test and Diagnostics of Miniaturized Hall Thrusters
12:22

Optimization, Test and Diagnostics of Miniaturized Hall Thrusters

Published on: February 16, 2019

8.9K

Area of Science:

  • Robotics and Automation
  • Mining Engineering
  • Control Systems

Background:

  • Automation of underground articulated vehicles, specifically Load-Haul-Dump (LHD) machines, is crucial for digital and smart mining.
  • Existing Nonlinear Model Predictive Control (NMPC) methods struggle with path tracking accuracy, exhibiting delays on high-curvature paths and correction lags.

Purpose of the Study:

  • To develop and validate an improved control strategy for LHD path tracking.
  • To address limitations in current NMPC controllers, namely turn delays and correction lags, in underground mining environments.

Main Methods:

  • A Particle Swarm Optimization-NMPC (PSO-NMPC) control strategy was proposed, integrating PSO with NMPC.
  • Simulations were conducted using a local tunnel path, comparing the PSO-NMPC controller against a standard NMPC controller.

Main Results:

  • The PSO-NMPC strategy demonstrated significant improvements in trajectory tracking performance for LHDs.
  • Maximum absolute lateral deviations were reduced by up to 89.7% on tested paths.
  • The enhanced controller showed superior performance on large-curvature paths compared to straight or small-curvature paths.

Conclusions:

  • The proposed PSO-NMPC control strategy effectively enhances LHD path tracking accuracy in underground mining.
  • This method successfully mitigates issues of turn delay and backward lag, offering practical advancements for autonomous mining operations.