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Fuzzy backstepping controller for agricultural tractor-trailer vehicles path tracking control with experimental

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  • 1School of Agricultural Engineering, Jiangsu University, Zhenjiang, China.

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A new fuzzy back-stepping controller enhances autonomous tractor-trailer vehicle (ATTV) path tracking. This advanced system significantly reduces trailer tracking errors and online time, improving agricultural operation efficiency and precision.

Keywords:
agricultural tractor-trailer vehicleback-stepping controlfuzzy controlpath tracking controlsmart planting

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Area of Science:

  • Agricultural Engineering
  • Robotics
  • Control Systems

Background:

  • Autonomous driving technology for agricultural tractor-trailer vehicles (ATTVs) is crucial for precision agriculture.
  • Current ATTV path tracking focuses on tractor guidance, often neglecting trailer constraints, which can impact agronomic requirements.

Purpose of the Study:

  • To develop and evaluate a fuzzy back-stepping path tracking controller for ATTVs.
  • To improve the path tracking accuracy and efficiency of ATTVs by prioritizing trailer guidance.

Main Methods:

  • Established a kinematic error model for ATTVs using the trailer as the positioning center in a Frenet coordinate system.
  • Designed a back-stepping controller with adaptive gain adjustment via a fuzzy algorithm to determine the tractor's front wheel steering angle.
  • Validated the controller through co-simulation (MATLAB/Simulink/CarSim) and physical platform experiments.

Main Results:

  • The proposed controller reduced the trailer's online time by 36.33% in simulations.
  • Experimental results showed a 65.27% reduction in average absolute lateral error and an 87.54% reduction in maximum lateral error during U-turn path tracking.
  • Achieved low mean absolute errors (MAE) of 0.010 for lateral and 0.016 for heading, and integral of absolute errors (IAE) of 1.989 and 2.916, respectively.

Conclusions:

  • The fuzzy back-stepping controller effectively addresses ATTV path tracking challenges.
  • Prioritizing trailer path tracking enhances the quality and efficiency of agricultural field operations.
  • The controller significantly improves the accuracy and operational efficiency of autonomous tractor-trailer vehicles.