Control of tractor-trailer wheeled robots considering self-collision effect and actuator saturation limitations

Kassaeiyan, Pouya; Tarvirdizadeh, Bahram; Alipour, Khalil

doi:10.1016/j.ymssp.2019.03.016

Cited by 62 publications

(27 citation statements)

References 21 publications

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“…Trajectory tracking systems were studied for planning the path that an autonomous robot has to follow within the field for conducting a specific operation [6][7][8][9]. Mohamed et al [6] generated an optimal free-obstacle path of a robotic vehicle that moved from a starting point to the goal location.…”

Section: Introductionmentioning

confidence: 99%

“…Mohamed et al [6] generated an optimal free-obstacle path of a robotic vehicle that moved from a starting point to the goal location. Kassaeiyan et al [9] applied their developed trajectory tracking systems to a real-world experimental implementation. Indeed, the most important problem among the trajectory tracking is the applicability in real-world applications [9].…”

Section: Introductionmentioning

confidence: 99%

“…Kassaeiyan et al [9] applied their developed trajectory tracking systems to a real-world experimental implementation. Indeed, the most important problem among the trajectory tracking is the applicability in real-world applications [9].…”

Section: Introductionmentioning

confidence: 99%

“…High technology and highly expensive robot mowers, such as the L400 Elite model manufactured by Zucchetti Centro Sistemi Spa (Arezzo, Italy), are equipped with a differential global position system (D-GPS) guidance system that enables the cutting path to be pre-planned [23]. The use of this technology reduces the operating costs (energy and time) [9]. However, GPS devices may function inaccurately due to the interference of buildings and tree canopies in residential turf areas [14,24].…”

Section: Introductionmentioning

confidence: 99%

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Assessment of the Cutting Performance of a Robot Mower Using Custom Built Software

Martelloni

Fontanelli

Pieri³

et al. 2019

Agronomy

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Before the introduction of positioning technologies in agriculture practices such as global navigation satellite systems (GNSS), data collection and management were time-consuming and labor-intensive tasks. Today, due to the introduction of advanced technologies, precise information on the performance of agricultural machines, and smaller autonomous vehicles such as robot mowers, can be collected in a relatively short time. The aim of this work was to track the performance of a robot mower in various turfgrass areas of an equal number of square meters but with four different shapes by using real-time kinematic (RTK)-GNSS devices, and to easily extract data by a custom built software capable of calculating the distance travelled by the robot mower, the forward speed, the cutting area, and the number of intersections of the trajectories. These data were then analyzed in order to provide useful functioning information for manufacturers, entrepreneurs, and practitioners. The path planning of the robot mower was random and the turfgrass area for each of the four shapes was 135 m2 without obstacles. The distance travelled by the robot mower, the mean forward speed, and the intersections of the trajectories were affected by the interaction between the time of cutting and the shape of the turfgrass. For all the different shapes, the whole turfgrass area was completely cut after two hours of mowing. The cutting efficiency decreased by increasing the time, as a consequence of the increase in overlaps. After 75 minutes of cutting, the efficiency was about 35% in all the turfgrass areas shapes, thus indicating a high level of overlapping.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Assessment of the Cutting Performance of a Robot Mower Using Custom Built Software

Martelloni

Fontanelli

Pieri³

et al. 2019

Agronomy

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“…Therefore, the coordinated control of multiple tractors with n ‐trailers greatly increases the capacity of the transportation in different applications including material collection, luggage carrier, crop harvesting, and logistic operations. Unfortunately, there does not exist any research effort that addresses the coordinated control of N tractors with n ‐trailers in the literature 1‐36 . In fact, the design of coordinated tracking controllers for these vehicles is very challenging due to their nonholonomic constraints, their multi‐body dynamics, and coupling effects between the tractor and consecutive trailers.…”

Section: Introductionmentioning

confidence: 99%

Saturated observer‐based adaptive neural network leader‐following control of N tractors with n‐trailers with a guaranteed performance

Shojaei

Abdolmaleki

2020

Adaptive Control & Signal

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This article addresses the leader‐following neural network adaptive observer‐based control of N tractors connected to n trailers with the prescribed performance specifications. To propose the controller, a change of coordinates and a nonlinear error transformation are used to transform the constrained error dynamics to a new second‐order Euler‐Lagrange unconstrained error dynamics which inherits all structural properties of ith vehicle dynamic model. By combining a projection‐type neural network and an adaptive robust technique, a novel leader‐following saturated output‐feedback controller is proposed to force that ith vehicle tracks a virtual leader trajectory with the prescribed transient and steady‐state characteristics while reducing the actuator saturation risk and compensating all unknown dynamic model parameters, external disturbances, unmolded dynamics, and NN approximation errors. A saturated velocity observer is heuristically proposed to obviate the requirement for the velocity measurements of ith vehicle without any unwanted peaking. A Lyapunov‐based stability analysis is utilized to prove that all the tracking and state observation errors are semi‐globally uniformly ultimately bounded (SGUUB) and they converge to small bounds including the origin with a prescribed performance. At the end, computer simulations will be shown to validate the efficacy of the proposed controller in practice.

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Extended state observer‐based trajectory tracking control of a wheeled mobile robot with one unpowered trailer

Yang,

Dang,

2024

Asian Journal of Control

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In this paper, trajectory tracking control is investigated for a wheeled mobile robot with one unpowered trailer using an extended state observer (ESO). The unpowered trailer is added to improve load capacity, which results in a large impact on trajectory tracking as a slow‐varying and large disturbance. A backstepping controller is proposed to generate desired velocities in an outer loop of a double closed‐loop structure. The ESO is employed in an inner loop to estimate the slow‐varying and large disturbance from the unpowered trailer. An integral sliding mode controller is also designed in the inner loop to track the desired velocities from the outer loop. Stability analysis for the ESO, the backstepping controller and the integral sliding mode controller is conducted via Lyapunov methods. Simulation results are provided to show the effectiveness of the trajectory tracking control for a wheeled mobile robot with one unpowered trailer.

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Control of tractor-trailer wheeled robots considering self-collision effect and actuator saturation limitations

Cited by 62 publications

References 21 publications

Assessment of the Cutting Performance of a Robot Mower Using Custom Built Software

Assessment of the Cutting Performance of a Robot Mower Using Custom Built Software

Saturated observer‐based adaptive neural network leader‐following control of N tractors with n‐trailers with a guaranteed performance

Extended state observer‐based trajectory tracking control of a wheeled mobile robot with one unpowered trailer

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