Improving path-tracking performance of an articulated tractor-trailer system using a non-linear kinematic model

Murillo, Marina Hebe; Sánchez, G.; Deniz, Nestor N.; Genzelis, Lucas; Giovanini, Leonardo

doi:10.1016/j.compag.2022.106826

Cited by 14 publications

(5 citation statements)

References 18 publications

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“…The operating environment of tractor is very complex compared to that of a road or rail vehicle because it operates in grasslands, woodlands, and wetlands, etc. [ 36 ]. Therefore, it is difficult to establish an accurate mathematical model for a tractor in motion status.…”

Section: System Modelmentioning

confidence: 99%

Trajectory tracking for agricultural tractor based on improved fuzzy sliding mode control

et al. 2023

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Trajectory tracking is one of the key technologies for tractor automatic navigation. Its main purpose is to adjust the steering mechanism of the tractor to follow the planned trajectory. Thus, in this paper a trajectory tracking control system is designed for an agricultural tractor with the electric power steering mechanism. A DC brush motor is added on the steering column of the tractor and the hardware circuits for the steering controller are designed to control the front wheel angel. The three degrees of freedom model of the tractor is established, and a trajectory tracking control system is proposed including a fuzzy sliding mode controller and a steering angle tracking controller designed according to the internal mode control and minimized sensitivity theory. The effectiveness of the designed trajectory tracking control system is demonstrated by simulation analyses in reference to the planed trajectory.

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Section: System Modelmentioning

confidence: 99%

Trajectory tracking for agricultural tractor based on improved fuzzy sliding mode control

et al. 2023

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“…Rath et al proposed a robust model predictive controller for accomplishing an effective path following motion plan of an Autonomous Underwater Vehicle in face of uncertainties, external disturbances, and actuator constraints [7]. Murillo et al presented a novel non-linear mathematical model of an articulated tractor-trailer system [8]. He et al took a paddy field agricultural machinery body as the control object and established an agricultural machinery kinematics model based on the agricultural machinery pose correction [9].…”

Section: Introductionmentioning

confidence: 99%

Optimal control of autonomous vehicle path tracking based on whale optimization algorithm

Han,

Liu,

Peng

2024

J. vibroeng.

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In order to solve the problem of accurate vehicle path tracking and address the issues of low convergence accuracy and susceptibility to local optima in Whale Optimization Algorithm (WOA), a nonlinear convergence factor is proposed and nonlinear inertia weights are introduced to improve the basic WOA. Firstly, the convergence factor in WOA is changed to a nonlinear convergence factor, and a nonlinear inertia weight is introduced to improve the convergence accuracy, local development ability, and global search ability. Then, this algorithm is combined with a fifth-degree polynomial. The simulation results show that the proposed method can solve the problem of vehicle path tracking effectively. And also, the vehicle can track the given path controlled by the proposed algorithm with higher accuracy and has stronger applicability. The study can help drivers easily identify safe lane-changing trajectories and area.

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“…Kassaeiyan et al designed a full-state trajectory tracking controller that ensures the asymptotic stabilization of the output errors and enables tractor-trailer wheeled robots to follow the desired paths both in forward and backward [7]. Murillo et al presented a novel nonlinear mathematical model of an articulated tractor-trailer system, which can be used to combine with receding horizon techniques to enhance the performance of path tracking tasks of articulated systems [8]. Shojaei et al drew a neural adaptive PID tracking controller to guarantee that the tracking errors exponentially converge to an arbitrary small ultimate bound with a prespecified maximum overshoot and convergence rate [3].…”

Section: Introductionmentioning

confidence: 99%

“…(4) Compared with many previous works [4][5][6][7][8][9]12,[14][15][16], taking into account the convergence speed and final tracking control accuracy in the transient and steady-state performances, the PPC strategy is added to the front end of the double closed-loop controller to ensure the effective implementation of the robust trajectory tracking control of the tractortrailer without any possible controller singularity.…”

Section: Introductionmentioning

confidence: 99%

Robust Trajectory Tracking Control of an Autonomous Tractor-Trailer Considering Model Parameter Uncertainties and Disturbances

Xue

Chen

et al. 2023

Agriculture

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This paper discusses the robust trajectory tracking control of an autonomous tractor-trailer in agricultural applications. Firstly, considering the model parameter uncertainties and various disturbances, the kinematic and dynamic models of the autonomous tractor-trailer system are established. Moreover, the coordinate transformation is adopted to convert the trajectory tracking error into a new unconstrained error state space model. On this basis, the prescribed performance control (PPC) technique is designed to ensure the convergence speed and final tracking control accuracy of the tractor-trailer control system. Then, this paper designs a double closed-loop control structure. The posture control level adopts the model predictive control (MPC) method, and the dynamic level adopts the sliding mode control (SMC) method. At the same time, it is worth mentioning that the nonlinear disturbance observer (NDO) is designed to estimate all kinds of system disturbances and compensate for the tracking control system to improve the system’s robustness. Finally, the proposed control strategy is validated through comparative simulations, demonstrating its effectiveness in achieving robust trajectory tracking of the autonomous tractor-trailer system.

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Improving path-tracking performance of an articulated tractor-trailer system using a non-linear kinematic model

Cited by 14 publications

References 18 publications

Trajectory tracking for agricultural tractor based on improved fuzzy sliding mode control

Trajectory tracking for agricultural tractor based on improved fuzzy sliding mode control

Optimal control of autonomous vehicle path tracking based on whale optimization algorithm

Robust Trajectory Tracking Control of an Autonomous Tractor-Trailer Considering Model Parameter Uncertainties and Disturbances

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