A full-state trajectory tracking controller for tractor-trailer wheeled mobile robots

Kassaeiyan, Pouya; Alipour, Khalil; Tarvirdizadeh, Bahram

doi:10.1016/j.mechmachtheory.2020.103872

Cited by 34 publications

(18 citation statements)

References 29 publications

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“…To this end, the dynamic models of tractor-trailers have been developed to design tracking controllers to cope with inertial, Coriolis, centripetal, damping and gravity forces, and torques acting on the vehicle. [18][19][20][21][22][23][24][25][26][27] For the example, robust nonlinear controllers are presented for the trajectory tracking control of TTWMRs in Alipour et al 18 and Khalaji and Moosavian. 19 A PID-based controller is developed for the target-tracking problem of a tractor-trailer mobile robot in Khalaji.…”

Section: Background and Related Workmentioning

confidence: 99%

“…19 A PID-based controller is developed for the target-tracking problem of a tractor-trailer mobile robot in Khalaji. 20 A full-state trajectory tracking controller is designed for the tractor towing a trailer in Kassaeiyan et al 21 Recently, novel motion controllers have been developed for the tractor-trailers in the literature for agricultural and industrial applications. [22][23][24][25] However, most of the available results are focused on a tractor with a singletrailer.…”

Section: Background and Related Workmentioning

confidence: 99%

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Input-output feedback linearization control of a tractor with n-trailers mechanism considering the path curvature

Shojaei

Taghavifar

2022

Proceedings of the Institution of Mechanical Engineers, Part C:

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In this paper, an observer-based proportional-integral-derivative (PID) controller is proposed for an autonomous tractor with n-trailer units with prescribed transient and steady-state performances by compensating the negative effect of the path curvature during the turning of the trailers. The control objective is to place the position of the last trailer on a desired trajectory without any deviation in the course of its turning. Since the curvature of the trajectory causes a remarkable unwanted deviation of the trailers’ positions from the path, an input-output model is derived for the tractor with n-trailers based on the extended look-ahead control concept which employs a corrective angle to compensate the path curvature. A nonlinear transformation is employed to transform constrained errors into unconstrained ones and to obtain an open-loop error dynamic model in terms of the unconstrained errors. Then, a neural network adaptive PID output-feedback linearization-based controller is proposed to force the tracking errors to the zero neighbourhood with a guaranteed prescribed performance with preferable overshoot/undershoot, convergence speed and final tracking accuracy. The Kalman–Yakobovich (KY) lemma is employed to prove the closed-loop stability of the observer-controller system strongly. Numerical simulations are given to show the controller’s effectiveness in practice.

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Section: Background and Related Workmentioning

confidence: 99%

Section: Background and Related Workmentioning

confidence: 99%

Input-output feedback linearization control of a tractor with n-trailers mechanism considering the path curvature

Shojaei

Taghavifar

2022

Proceedings of the Institution of Mechanical Engineers, Part C:

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“…One of the main elements of the hardware can be a full-featured trajectory tracking controller for mobile wheeled robots (Kassaeiyan, Alipour, Tarvirdizadeh, 2020).…”

Section: Literature Reviewmentioning

confidence: 99%

Robotic Platform Concept for Rapid Soil Monitoring

Bykov¹,

Berezhnov²,

Leonov³

2020

Modern S&T Equipments and Problems in Agriculture

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This article presents the substantiation of application of a robotic platform for express monitoring of the main physical-chemical and agrochemical indicators of soils in field conditions. The concept of the robotic platform provides for its movement in the field along the trajectory given by the IV International Scientific and Practical Conference "Modern S&T Equipments and Problems in Agriculture" 29 program, collection of soil samples and immersion of probes with sensors in them. The main advantage of the proposed method is its high efficiency at low economic costs. Due to the large number of measurements per unit area of the field the estimation accuracy is quite high. At the same time, for one point of the field it is possible to make measurements in different soil horizons. The conceptual scheme of the robotic platform is offered, energy calculations are performed, specific brands of sensors and other devices are selected. The presented materials are the basis for designing, manufacturing and operation of this automated vehicle. The concept of robotic platform operation corresponds to modern digital technologies and precision farming system.

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“…Research on precise point positioning (PPP) in precision agriculture (PA) was also conducted utilizing global navigation satellite system (GNSS) technology on big four-wheel tractors [3]- [6]. Several of these studies have resulted in the development of a four-wheel tractor control system at a relatively high cost to Indonesian farmers [7]- [10]. Furthermore, numerous studies have been conducted to optimize the tractor's mechanical performance [11]- [17], embedded control systems [18]- [23], and software [24]- [28], enabling it to operate and be controlled by a distance.…”

Section: Introductionmentioning

confidence: 99%

Trolls: a novel low-cost controlling system platform for walk-behind tractor

Crisnapati

Maneetham²,

Triandini³

2023

IJECE

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<span lang="EN-US">A novel low-cost controlling system platform for walk-behind hand tractors (Quick G3000 and G1000) was designed and developed to solve the fatigue problem faced by farmers when ploughing the rice field. This platform is dedicated to designing and manufacturing mechanical, electrical, and software components. The tractor was modified and added with an embedded control system that functioned as the slave, while the direction of the tractor movement was controlled remotely by humans through Bluetooth communication with the smartphone application as the master. Several servos and direct currents (DCs) were used as the actuator to move some levers and clutches instead of the tractor to make it remotely controllable. This system has been directly tested in the paddy farming land through two tractors: Quick G3000 and G1000. The testing results showed that this system could be used within more or less six hours; there is a cost-efficiency of 21.74% and 84.62% battery usage efficiency. More efficient mechanics caused this cost efficiency, and the reduction in electronic devices affects battery efficiency. A low-cost platform for controlling walk-behind tractors has been successfully developed; this platform assists farmers in ploughing their fields.</span>

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A full-state trajectory tracking controller for tractor-trailer wheeled mobile robots

Cited by 34 publications

References 29 publications

Input-output feedback linearization control of a tractor with n-trailers mechanism considering the path curvature

Input-output feedback linearization control of a tractor with n-trailers mechanism considering the path curvature

Robotic Platform Concept for Rapid Soil Monitoring

Trolls: a novel low-cost controlling system platform for walk-behind tractor

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