The tracking control study of distributed electric-driven agricultural vehicles based on real-time online estimation

Abstract

For tracking control issues of distributed electric-driven agricultural vehicles in the complex road conditions driving state, a 6-degree-of-freedom model of agriculture vehicle was established. On this basis, a mathematical model for control system design was derived using the significant advantages of real-time online estimation of vehicle yaw angular velocity of nonlinear third-order extended state observer. Based on the nonlinear third-order extended state observer, a fast and smooth terminal sliding mode control algorithm was designed using the mathematical model. Afterward, the stability of system was analyzed based on Lyapunov theory. The control algorithm used the fast and smooth terminal sliding mode control instead of the normal terminal sliding mode control required control coefficient matrix inverse calculation, which improved the real-time of the control algorithm. Meanwhile, the smooth sliding mode approach law could converge to the sliding surface in finite time and effectively eliminate chattering, and it had strong adaptability to perturbation and perturbation of system parameters. Simulation and experimental results showed that compared with the traditional nonlinear feedback control algorithm based on nonlinear third-order extended state observer, the proposed control algorithm had short adjustment time, small overshoot and good tracking control accuracy.

Travel Reduction Control of Distributed Drive Electric Agricultural Vehicles Based on Multi-Information Fusion

“…Sliding mode control (SMC) is a variable structure control method [13] that has been widely used in mechanical and vehicle engineering [14,15], especially for clutch control [16] and motor control [17]. Although some studies have focused on the control of agricultural vehicles in terms of the path [18] and guidance and steering [19], the drive control of distributed drive agricultural vehicles on complex soil surfaces has received limited attention. Furthermore, the agricultural environment and soil conditions of each wheel can be complex and considerably different.…”