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

Abstract

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.

A Comprehensive Overview of Control Algorithms, Sensors, Actuators, and Communication Tools of Autonomous All-Terrain Vehicles in Agriculture

“…In the past few decades, MPC has been extensively investigated as a promising control strategy [90][91][92][93] and has also been applied in the industrial sector [94]. There are a few alternative versions of the MPC algorithm used in autonomous vehicle control, e.g., a prescribed performance control algorithm proposed to establish accurate tracking control for a tractor trailer [95]. A combine harvester was controlled using constraint MPC and an alternative ASM as part of the cruise control process [96].…”

Sliding Mode Speed Control in Synchronous Motors for Agriculture Machinery: A Chattering Suppression Approach

“…These autonomous vehicles operate under hard conditions where parameter changes and disturbances are present. To solve these issues, sliding mode control demonstrates better behavior in comparison with the PID technique under common conditions such as serpentine, double line shift, and step [23,24]. In the same way, electric motors power these autonomous vehicles.…”