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

• Published in: Agriculture (Basel) Vol. 13; no. 4; p. 869
• Main Authors: Lu, En, Xue, Jialin, Chen, Tiaotiao, Jiang, Song
• Format: Journal Article
• Language: English
• 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

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...