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

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. Moreo...

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Published inAgriculture (Basel) Vol. 13; no. 4; p. 869
Main Authors Lu, En, Xue, Jialin, Chen, Tiaotiao, Jiang, Song
Format Journal Article
LanguageEnglish
Published Basel MDPI AG 01.04.2023
Subjects
Agricultural equipment
Agricultural production
agriculture
Closed loops
Control systems
Control systems design
Controllers
Coordinate transformations
Design
Disturbance observers
Dynamic models
Feedback control
Kinematics
model predictive control
Neural networks
Parameter uncertainty
posture
Predictive control
prescribed performance
Robust control
robust sliding mode control
Sliding mode control
State space models
Tracking control
Tracking errors
Tractor trailers
tractor-trailer
Tractors
Trajectory control
trajectory tracking
Vehicles
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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.
AbstractList 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.
Audience Academic
Author Chen, Tiaotiao
Lu, En
Xue, Jialin
Jiang, Song
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Snippet This paper discusses the robust trajectory tracking control of an autonomous tractor-trailer in agricultural applications. Firstly, considering the model...
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StartPage 869
SubjectTerms Agricultural equipment
Agricultural production
agriculture
Closed loops
Control systems
Control systems design
Controllers
Coordinate transformations
Design
Disturbance observers
Dynamic models
Feedback control
Kinematics
model predictive control
Neural networks
Parameter uncertainty
posture
Predictive control
prescribed performance
Robust control
robust sliding mode control
Sliding mode control
State space models
Tracking control
Tracking errors
Tractor trailers
tractor-trailer
Tractors
Trajectory control
trajectory tracking
Vehicles
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Title Robust Trajectory Tracking Control of an Autonomous Tractor-Trailer Considering Model Parameter Uncertainties and Disturbances
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