DocumentCode :
2426697
Title :
Mixed nonlinear-sliding mode control of an unmanned farm tractor in the presence of sliding
Author :
Matveev, Alexey S. ; Hoy, Michael ; Savkin, Andrey V.
Author_Institution :
Dept. of Math. & Mech., St. Petersburg Univ., St. Petersburg, Russia
fYear :
2010
fDate :
7-10 Dec. 2010
Firstpage :
927
Lastpage :
932
Abstract :
The paper considers the problem of automatic path tracking by autonomous farming vehicles subject to wheel slips, which are characteristic for agricultural applications. Two guidance laws are proposed to solve this problem, and both explicitly take into account the constraints on the steering angle and ensure tracking an arbitrarily curved path. The first law is implemented by the pure sliding-mode controller, whereas the second one combines the sliding mode approach with a smooth nonlinear control law, using control chattering at the reduced amplitude as compared with the first law. Mathematically rigorous proofs of global convergence and robust stability of the proposed guidance laws are presented. In doing so, the slipping effects are treated as bounded uncertainties. Simulation results confirm the applicability and performance of the proposed guidance approach.
Keywords :
agricultural machinery; mobile robots; nonlinear control systems; position control; remotely operated vehicles; robust control; steering systems; variable structure systems; wheels; arbitrarily curved path; automatic path tracking; autonomous farming vehicles; bounded uncertainties; control chattering; global convergence; guidance laws; mixed nonlinear-sliding mode control; robust stability; slipping effects; smooth nonlinear control law; steering angle; unmanned farm tractor; wheel slips; Equations; Kinematics; Mathematical model; Sliding mode control; Uncertainty; Vehicles; Wheels; Mobile robots; agriculture; optimization; sliding mode control; uncertainty;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control Automation Robotics & Vision (ICARCV), 2010 11th International Conference on
Conference_Location :
Singapore
Print_ISBN :
978-1-4244-7814-9
Type :
conf
DOI :
10.1109/ICARCV.2010.5707274
Filename :
5707274
Link To Document :
بازگشت