Straight-line tracking controller design of agricultural tractors based on third-order sliding mode

Ding, Shihong; Huang, Chi; Ding, Chen; Wei, Xinhua

doi:10.1016/j.compeleceng.2022.108559

Cited by 9 publications

(3 citation statements)

References 25 publications

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“…To highlight the negative impact of the input deadzone on the path tracking performance of the AGV, the differential flatness-based controller (DFC) [31] and the finite-time sliding mode control (FTSMC) [21] are applied to the AGV under deadzone. The input deadzones deterioted the performance of DFC and FTSMC because they were not designed to compensate input deadzones as shown in Figs.…”

Section: Simulation Resultsmentioning

confidence: 99%

“…Luca et al [20] applied a sliding mode control for the path tracking of an AGV with uncertainties. In [21], a finite-time robust sliding mode path following control was studied for a linearized AGV dynamic model. In [22], a particle swamp optimization algorithm was used to optimize the gains of the sliding mode controller to improve path tracking accuracy and robustness.…”

Section: Introductionmentioning

confidence: 99%

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Neuro-Adaptive Path following Control of Autonomous Ground Vehicles with Input Deadzone

Maaruf,

Mysorewala

2024

Preprint

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This article investigates the path-following control problem of an autonomous ground vehicle (AGV) with unknown external disturbances and input deadzones. Neural networks are used to estimate unknown external disturbances, dead zones, and nonlinear functions. A backstepping control is proposed to facilitate the tracking of the target path. The steady-state path-following error is decreased by adding an integral error term to the backstepping controller. Command filtering is employed to address the explosion of the complexity issue of the conventional backstepping approach, and the filtering error is compensated via an auxiliary signal. Lyapunov stability study indicates that the AGV closed-loop system is bounded by the proposed control with reasonable accuracy. At last, simulations are given to demonstrate the potential of the proposed scheme in path-following control.

show abstract

Section: Simulation Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Neuro-Adaptive Path following Control of Autonomous Ground Vehicles with Input Deadzone

Maaruf,

Mysorewala

2024

Preprint

View full text Add to dashboard Cite

show abstract

“…The first-order approach drives the sliding surface to zero, whereas the second-order drives both the sliding surface and its derivative in finite time to zero. The third-order additionally drives the second derivative of the sliding surface to zero [30], [31]. The SMC's first-order main disadvantage is the high-frequency oscillations near the sliding surface, known as the chattering effect.…”

Section: Introductionmentioning

confidence: 99%

Coupled Lateral and Longitudinal Controller for Over-Actuated Vehicle in Evasive Maneuvering With Sliding Mode Control Strategy

et al. 2023

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Neuro-adaptive path following control of autonomous ground vehicles with input deadzone

Maaruf,

Mysorewala

2024

Discov Appl Sci

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This article investigates the path-following control problem of an autonomous ground vehicle (AGV) with unknown external disturbances and input deadzones. Neural networks are used to estimate unknown external disturbances, dead zones, and nonlinear functions. The minimum learning parameter scheme is employed to adjust the neural network to reduce the computational load. A backstepping control is proposed to facilitate the tracking of the target path. The steady-state path-following error is decreased by adding an integral error term to the backstepping controller. Command filtering is employed to address the explosion of the complexity issue of the conventional backstepping approach, and the filtering error is compensated via an auxiliary signal. Lyapunov stability study indicates that the AGV closed-loop system is bounded by the proposed control with reasonable accuracy. At last, simulations are given to demonstrate the potential of the proposed scheme in path-following control.

show abstract

Straight-line tracking controller design of agricultural tractors based on third-order sliding mode

Cited by 9 publications

References 25 publications

Neuro-Adaptive Path following Control of Autonomous Ground Vehicles with Input Deadzone

Neuro-Adaptive Path following Control of Autonomous Ground Vehicles with Input Deadzone

Coupled Lateral and Longitudinal Controller for Over-Actuated Vehicle in Evasive Maneuvering With Sliding Mode Control Strategy

Neuro-adaptive path following control of autonomous ground vehicles with input deadzone

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