Observer-based robust cooperative formation tracking control for multiple combine harvesters

Lu, En; Tian, Zhongming; Xu, Lizhang; Ma, Zheng; Luo, Chengming

doi:10.1007/s11071-023-08661-x

Cited by 3 publications

(2 citation statements)

References 29 publications

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“…Trajectory planning entails determining a path between two points within a specified region while avoiding collisions with environmental objects [ 1 ]. It is pivotal for various unmanned platforms, including industrial robots, mobile robots, and autonomous drones.…”

Section: Introductionmentioning

confidence: 99%

Real-Time Trajectory Smoothing and Obstacle Avoidance: A Method Based on Virtual Force Guidance

Su,

Lin,

Liu

2024

Sensors

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In dynamic environments, real-time trajectory planners are required to generate smooth trajectories. However, trajectory planners based on real-time sampling often produce jerky trajectories that necessitate post-processing steps for smoothing. Existing local smoothing methods may result in trajectories that collide with obstacles due to the lack of a direct connection between the smoothing process and trajectory optimization. To address this limitation, this paper proposes a novel trajectory-smoothing method that considers obstacle constraints in real time. By introducing virtual attractive forces from original trajectory points and virtual repulsive forces from obstacles, the resultant force guides the generation of smooth trajectories. This approach enables parallel execution with the trajectory-planning process and requires low computational overhead. Experimental validation in different scenarios demonstrates that the proposed method not only achieves real-time trajectory smoothing but also effectively avoids obstacles.

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Section: Introductionmentioning

confidence: 99%

Real-Time Trajectory Smoothing and Obstacle Avoidance: A Method Based on Virtual Force Guidance

Su,

Lin,

Liu

2024

Sensors

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“…Komarnicki et al proposed a graphical approach for assessing bruise resistance and the bruise threshold. This method serves as an effective tool for evaluating mechanical damage [7][8][9][10]. Lixin et al proposed a nonlinear dynamic rheological model and investigated the impact of the vibration intensity, cushioning packing structure, and layer placement on the apple damage.…”

Section: Introductionmentioning

confidence: 99%

Optimization and Experimental Study of Structural Parameters for a Low-Damage Packing Device on an Apple Harvesting Platform

Chen,

Zhang,

Yang

et al. 2023

Agriculture

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To address the issues of low efficiency and high damage rates during apple harvesting and packing, a parameter optimization experiment was conducted on a low-damage packing device for an apple harvesting platform based on Adams 2019 software. The aim was to reduce the mechanical damage to apples during the packing process. Firstly, kinematics and energetics analyses of the apple packing process were performed, and a mathematical model for damage energy was established to identify the main factors and their ranges that influence the mechanical damage to apples. Secondly, using the fruit damage rate and packing efficiency as the evaluation criteria, a second-order orthogonal rotating regression experiment was conducted with the inclination angle of the fruit conveying tube, the inner wall radius of the fruit conveying tube, and the length of the fruit conveying tube as the experimental factors. Regression mathematical models were established to assess the relationship between the evaluation criteria and the experimental factors. Finally, the impact of each experimental factor on the evaluation criteria was analyzed to determine the optimal structural parameters for the low-damage packing device of the apple harvesting platform, and validation experiments were conducted. The results showed that when the inclination angle of the fruit conveying tube was 47°, the inner wall radius of the fruit conveying tube was 84 mm and the length of the fruit conveying tube was 0.12 m, the average fruit damage rate was minimized at 7.2%, and the average packing efficiency was maximized at 1925 kg/h. These results meet the requirements for apple harvesting operations, and the research findings can serve as a reference for the structural design and packing operation parameter optimization of apple harvesting platforms.

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A Generalized Supertwisting Algorithm Based on Terminal Sliding Manifold Control of Perturbed Unicycle Mobile Robots

Boubaker,

Labbadi,

Alsubaei

2024

IEEE Access

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This paper addresses the topic of stabilizing a class of nonholonomic systems in chained form impacted by matched uncertainties and time-varying perturbations. To design efficient stabilizing control law, the whole problem is divided into two sub-problems. The first sub-problem considers a system with perturbation stabilized using a fixed-time controller. The second sub-problem consists of the design of a controller for a second system operating under perturbations and uncertainties. To control this second system, firstly a terminal sliding mode manifold is proposed to achieve a fixed-time stability. As opposed to the traditional supertwisting algorithm (STA), the present work proposes a generalized STA (GSTA). The proposed method's most striking feature is the substitution of a fractional power term for the standard STA's discontinuous term, which can significantly boost the former's performance. It is demonstrated that the GSTA will reduce to the traditional STA if the fractional power in the nonsmooth term equals −1/2. The ability of the sliding variables to finite-time converge to an arbitrary tiny region in the vicinity of the origin by adjusting the gains and the fractional power will be thoroughly proven under the GSTA by utilizing strict Lyapunov analysis. The effectiveness of the proposed control method is shown through extensive simulations.INDEX TERMS Perturbed unicycle mobile robots, Nonholonomic systems, Fixed-time/finite stabilization, Lyapunov methods, high order sliding mode, Perturbations.

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Observer-based robust cooperative formation tracking control for multiple combine harvesters

Cited by 3 publications

References 29 publications

Real-Time Trajectory Smoothing and Obstacle Avoidance: A Method Based on Virtual Force Guidance

Real-Time Trajectory Smoothing and Obstacle Avoidance: A Method Based on Virtual Force Guidance

Optimization and Experimental Study of Structural Parameters for a Low-Damage Packing Device on an Apple Harvesting Platform

A Generalized Supertwisting Algorithm Based on Terminal Sliding Manifold Control of Perturbed Unicycle Mobile Robots

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