DocumentCode :
2405392
Title :
A nonlinear PI and backstepping-based controller for tractor-steerable trailers influenced by slip
Author :
Huynh, Van T. ; Smith, Ryan N. ; Kwok, Ngai Ming ; Katupitiya, Jayantha
Author_Institution :
Sch. of Syst. Eng., Queensland Univ. of Technol., Brisbane, QLD, Australia
fYear :
2012
fDate :
14-18 May 2012
Firstpage :
245
Lastpage :
252
Abstract :
Autonomous guidance of agricultural vehicles is vital as mechanized farming production becomes more prevalent. It is crucial that tractor-trailers are guided with accuracy in both lateral and longitudinal directions, whilst being affected by large disturbance forces, or slips, owing to uncertain and undulating terrain. Previous research has been concentrated on trajectory control that provides longitudinal and lateral accuracy if the vehicle moves without sliding and/or the trailer is passive. In this paper, we extend current results by addressing the problem of robust trajectory tracking along straight and circular paths of a tractors with steerable trailers. We develop a controller that is a robust combination of a backstepping and nonlinear PI control. For vehicles subjected to slip, the proposed controller makes the lateral deviations and the orientation errors of the tractor and trailer converge to a neighborhood near the origin. Simulation results are presented to illustrate that the suggested controller ensures precise trajectory tracking in the presence of slip.
Keywords :
PI control; agricultural machinery; nonlinear control systems; trajectory control; agricultural vehicles; autonomous guidance; backstepping-based controller; disturbance forces; lateral directions; longitudinal directions; mechanized farming production; nonlinear PI controller; slip; tractor-steerable trailers; trajectory tracking; undulating terrain; Agricultural machinery; Axles; Mathematical model; Trajectory; Uncertainty; Vehicles; Wheels;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation (ICRA), 2012 IEEE International Conference on
Conference_Location :
Saint Paul, MN
ISSN :
1050-4729
Print_ISBN :
978-1-4673-1403-9
Electronic_ISBN :
1050-4729
Type :
conf
DOI :
10.1109/ICRA.2012.6224567
Filename :
6224567
Link To Document :
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