Trajectory tracking for agricultural tractor based on improved fuzzy sliding mode control
Chengqiang Yin1, Shourui Wang2, Jie Gao1
1School of Machinery and Automation, Weifang University, Weifang, Shandong Province, China.
Plos One
|April 6, 2023
Summary
This study introduces an advanced trajectory tracking control system for agricultural tractor automatic navigation. The system enhances steering precision for electric power steering, improving autonomous operation.
Area of Science:
- Agricultural Engineering
- Robotics
- Control Systems
Background:
- Tractor automatic navigation relies heavily on precise trajectory tracking.
- Existing systems require optimization for agricultural applications with electric power steering.
Purpose of the Study:
- To design and validate a novel trajectory tracking control system for agricultural tractors.
- To improve the accuracy and reliability of autonomous tractor steering.
Main Methods:
- Developed a three degrees of freedom tractor model.
- Integrated a fuzzy sliding mode controller and a steering angle tracking controller.
- Utilized internal mode control and minimized sensitivity theory for controller design.
Main Results:
- A DC brush motor and custom hardware circuits were implemented for steering control.
- Simulation analyses demonstrated the system's effectiveness in following planned trajectories.
- The proposed controller successfully adjusted the front wheel angle for accurate tracking.
Conclusions:
- The designed trajectory tracking control system is effective for agricultural tractor automatic navigation.
- The integration of fuzzy sliding mode control enhances steering precision.
- This technology advances the development of autonomous agricultural machinery.
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