A sliding-mode variable-structure controller based on exact feedback linearization for automatic navigation system

Bai Xiaoping, Hu Jingtao, Zhang Tian

Abstract


Abstract: In order to improve the path tracking accuracy and robustness of the agricultural machinery navigation system, a sliding-mode variable-structure controller based on exact feedback linearization was presented. Firstly, based on the differential geometry theory and the affine nonlinear kinematics model, the corresponding nonlinear coordinate change matrix and nonlinear state variable feedback equations were deduced, and an exact feedback linearization model was then established. Secondly, based on the exact feedback linearization model, a sliding-mode variable-structure controller was designed by selecting suitable linear switching function and exponential reaching law. Finally, the comparative experiments were carried out. And the experimental results indicated that the proposed method had a high tracking accuracy and robustness. The maximum lateral error of the straight line tracking was less than 0.06 m, and maximum lateral error of the curve path tracking was less than 0.09 m. Experimental results show that the transplanter based on this automatic navigation system can effectively track the predefined path.
Keywords: agricultural machine, affine nonlinear kinematics model, exact feedback linearization, sliding-mode variable-structure controller
DOI: 10.3965/j.ijabe.20160905.1830

Citation: Bai X P, Hu J T, Gao L, Zhang T. A sliding-mode variable-structure controller based on exact feedback linearization for automatic navigation system. Int J Agric & Biol Eng, 2016; 9(5): 158－165.

Keywords


agricultural machine, affine nonlinear kinematics model, exact feedback linearization, sliding-mode variable-structure controller

Full Text:

PDF

References


Li M, Imou K, Wakabayashi K, Yokoyama S. Review of research on agricultural vehicle automonous guidance. International Journal of Agricultural and Biological Engineering, 2009; 2(3): 1–16.

Ji C Y, Zhou J. Current situation of navigation technologies for agricultural machinery. Transactions of the CSAM, 2014, 45(9): 44–54. (in Chinese with English abstract)

Wang H, Hu J T, Gao L. Compensation model for measurement error of wheel turning angle in agricultural guidance. Transactions of the CSAM, 2014, 45(8): 33–37. (in Chinese with English abstract)

Guo N, Hu J T, Wang H. Intelligent operation control system for rice transplanter based on GPS navigation. Transactions of the CSAM, 2014; 44(1): 200–204. (in Chinese with English abstract)

Zhang Z G, Luo X W, Zhao Z X, Huang P C. Trajectory tracking control method based on Kalman filter and pure pursuit model for agricultural vehicle. Transactions of the CSAM, 2009; 40(z1): 95–97. (in Chinese with English abstract)

Huang P C, Wang Z H. Pure pursuit curve tracking model research for vehicle automatic guidance. Automation Application, 2011; (4): 23–27. (in Chinese with English abstract)

Li T C, Hu J T, Gao L, Liu X G, Bai X P. Agricultural machine path tracking method based on fuzzy adaptive pure pursuit model. Transaction of the CSAM, 2013; 44(1): 205–210. (in Chinese with English abstract)

Backman J, Oksanen T, Visala A. Navigation system for agricultural machines: Nonlinear model predictive path tracking. Computers and Electronics in Agriculture, 2012; (82): 32–43.

Lü A T, Song Z H, Mao E R. Optimized control method for tractor automatic steering. Transactions of the CSAE, 2006; 22(8): 116–119. (in Chinese with English abstract)

Chen J, Torisu R, Zhu Z X, Chen J, Torisu R, Zhu Z X. Study on automatic guidance for tractor on grassland. Transaction of the CSAM, 2005; 36(7): 104–107. (in Chinese with English abstract)

Chen J, Torisu R. Automatic control of lane change for autonomous tractors. Transactions of the CSAE, 2005; 21(1): 83–86. (in Chinese with English abstract)

Li T C, Hu J T, Gao L, Liu X G, Bai X P. Agricultural machine path tracking method irrelevant to travel speeds. Transactions of the CSAM, 2014; 45(2): 778–785. (in Chinese with English abstract)

Zhang Q, Qiu H C. A dynamic path search algorithm for tractor automatic navigation. Transactions of the ASAE, 2004; 47(2): 639–646.

Derrick J B, Bevly D M. Adaptive control of a farm tractor with varying yaw dynamics accounting for actuator dynamics and saturations. In: Proceedings of the 17th IEEE International Conference on Control Applications. 2008; 547–552.

Derrick J B, Bevly D M, Rekow K A. Model-reference adaptive steering control of a farm tractor with varying hitch forces. In: Proceedings of American Control Conference, 2008; 3677–3682.

Derrick J B, Bevly D M. Adaptive steering control of a farm tractor with varying yaw rate properties. Journal of Field Robotics, 2009; 26(6-7): 519–536.

Chen J, Zhu Z X, Torisu R, Taketa J I. Automatic on-tracking control of farm vehicle based on neural network. Transactions of the CSAE, 2007; 38(5): 131–133. (in Chinese with English abstract)

Guo W B, Chen Y. Fuzzy control based autonomous navigation for a weeding robot. Robot, 2010; 32(2): 204–209.

Zhou J J, Zhang M, Wang M H, Liu G, Ji C F, Zhang Z G, et al. Path tracking for agricultural vehicle based on fuzzy control. Transaction of the CSAM, 2009; 40(4): 151–156. (in Chinese with English abstract)

Liu Z X, Liu G, Ji Y, Zhang M, Meng Z J, Fu W Q. Autonomous navigation system for agricultural tractor based on self-adapted fuzzy control. Transaction of the CSAM, 2010; 41(11): 148–152. (in Chinese with English abstract)

Chiang T S, Chiu C S. Non-singular terminal sliding-mode control of DC-DC buck converters. Control Engineering Practice, 2013; 21(3): 321–332.

Munoz-Aguilar RS, Rodriguez P, Doria-Cerezo A, Candela I, Luna A. A sensor-less sliding mode control scheme for a stand-alone wound rotor synchronous generator under unbalanced load conditions. International Journal of Electrical Power & Energy Systems, 2014; 60(11): 275–282.

Fu T, Wang D Z, Gong Q Z, Qi L. Robot trajectory tracking control of improved neural network adaptive sliding mode control. Journal of Dalian University of Technology, 2014; (5): 523–530. (in Chinese with English abstract)

Xu X D, Huang P F, Meng Z J. Coordinated stability control of tethered space robot for capturing the target. Robot, 2014; 36(1): 100–110. (in Chinese with English abstract)

Jiang Y X, Ding S H, Zhao D A. Straight-line tracking control of an agricultural vehicle with finite-time control technique. Asian Journal of Control, 2015; 17(6): 2218–2228.




Copyright (c)



2023-2026 Copyright IJABE Editing and Publishing Office