Double look-ahead reference point control for autonomous agricultural vehicles

Bodur, Mehmet; Kiani, Ehsan; Hacisevki, Hasan

doi:10.1016/j.biosystemseng.2012.07.005

Cited by 16 publications

(3 citation statements)

References 17 publications

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“…Usually, kinematic models neglect the s i d e -s l i p o f t h e t i r e s a n d t h e d y n a m i c s o f t h e s t e e r i n g actuator [7][8][9], they are suitable for object with low velocity. Dynamic models are developed based on known, estimated or identified parameters, and degrade the generality of the models [10][11][12], they are suitable for the object with high accelerations and velocities.…”

Section: Introductionmentioning

confidence: 99%

Trajectory Tracking Based on Adaptive Sliding Mode Control for Agricultural Tractor

Yin

Wang

et al. 2020

IEEE Access

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Trajectory tracking is one of the key technologies for high-precision agriculture and has been the research focus by a large number of academics. In order to design a simple trajectory tracking control scheme, an adaptive sliding mode control based on lateral deviation is proposed. To reduce the chattering phenomenon, an adjustable parameter associated with the sliding surface and system error is introduced, by which the forward gain value can be regulated with the state change. According to the established tractor model, the desired front wheel angle can be obtained as the output of the sliding mode controller. A modified Smith predictor structure based two degree of freedom control scheme is designed to follow the desired front wheel angle. The effectiveness of the designed trajectory tracking control system is demonstrated by simulations, especially the performance of preventing chattering phenomenon.

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Section: Introductionmentioning

confidence: 99%

Trajectory Tracking Based on Adaptive Sliding Mode Control for Agricultural Tractor

Yin

Wang

et al. 2020

IEEE Access

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“…A qualified automatic steering system requires high control accuracy, good reliability, and fast response [9][10][11][12]. Electrohydraulic steering is used for the most automatic steering tractors, and it is becoming common practice to provide large forces to actuate steering mechanism by a hydraulic cylinder governed by a directional valve.…”

Section: Introductionmentioning

confidence: 99%

Development of Electrohydraulic Steering Control System for Tractor Automatic Navigation

Yin

Sun

et al. 2018

Journal of Electrical and Computer Engineering

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The most of tractors employed in agriculture are equipped with an electrohydraulic actuator to implement steering control to realize automatic navigation. Electrohydraulic steering system plays an important role in realizing accurate steering control for an automatic navigation tractor because of its complicated characteristics. The objective of this paper is to develop an electrohydraulic steering control system used for automatically guided agricultural tractors. As for the identified electrohydraulic steering system model, a modified Smith control structure was discussed. Based on the structure, an improved design method for voltage servo controller and disturbance rejection controller was proposed to enhance the performance of the steering control subsystem. The effectiveness and the superiority of the proposed method were verified by simulation under Matlab. Simulation results demonstrated the efficiency of the proposed method by showing fast response, control accuracy, and robust performance for the steering control system.

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“…The authors wish to correct a number of inadvertent errors made in the reference list of [45]. For ease of readers' reference, a revised version of the original article's reference list [1–44] is given in this corrigendum.…”

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confidence: 99%

Corrigendum to Satellite Images-Based Obstacle Recognition and Trajectory Generation for Agricultural Vehicles

Bodur

Mehrolhassani

2016

International Journal of Advanced Robotic Systems

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Double look-ahead reference point control for autonomous agricultural vehicles

Cited by 16 publications

References 17 publications

Trajectory Tracking Based on Adaptive Sliding Mode Control for Agricultural Tractor

Trajectory Tracking Based on Adaptive Sliding Mode Control for Agricultural Tractor

Development of Electrohydraulic Steering Control System for Tractor Automatic Navigation

Corrigendum to Satellite Images-Based Obstacle Recognition and Trajectory Generation for Agricultural Vehicles

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