Sliding Mode Control of Automatic Guidance of Farm Vehicles in the Presence of Sliding
نویسندگان
چکیده
Satisfactory results of automatic guidance of farm vehicles have been achieved in previous works as long as vehicles move without sliding, but unfortunately in agricultural applications, sliding always occurs inevitably which causes loss of accuracy. In this paper the problem of path following control of autonomous farm vehicles subject to sliding is addressed. To take sliding effects into account, a vehicle-oriented kinematic model is built in which sliding effects are integrated in the form of additive disturbances to the ideal kinematic model. By transforming the vehicle-oriented kinematic model into a perturbed chained system, a sliding mode controller, which is robust not only to the sliding effects but also to the input noise, is designed with the help of the natural algebraic structure of chained systems. Simulation results show that the proposed control law can guarantee high path-following accuracy even in the presence of sliding.
منابع مشابه
Design of integrated Guidance and control system in the pitch channel using observer based chattering free sliding mode theory
The design of integrated guidance and control system for flying objects is one of the research fields in the aerospace that is considered by researchers in recent years. Due to the nonlinearity of the kinematic and dynamic equations of the homing interceptors in the terminal phase and also existence of uncertainties such as target maneuvers, external disturbances and variations in aerodynamic c...
متن کاملQuaternion-based Finite-time Sliding Mode Controller Design for Attitude Tracking of a Rigid Spacecraft during High-thrust Orbital Maneuver in the Presence of Disturbance Torques
In this paper, a quaternion-based finite-time sliding mode attitude controller is designed for a spacecraft performing high-thrust orbital maneuvers, with cold gas thrusters as its actuators. The proposed controller results are compared with those of a quaternion feedback controller developed for the linearized spacecraft dynamics, in terms of settling time, steady-state error, number of thrust...
متن کاملOptimal Sliding-Mode Guidance Law for Fixed-Interval Propulsive Maneuvers
An optimal strategy based on minimum effort control and also with terminal positionconstraint is developed for an exoatmospheric interceptor with a fixed- interval guidance time. It isthen integrated with sliding-mode control theory to drive an optimal sliding-mode guidance law forfixed-interval guidance time. In addition, this guidance law is generalized for intercepting anarbitrarily time-var...
متن کاملAdaptive fuzzy sliding mode and indirect radial-basis-function neural network controller for trajectory tracking control of a car-like robot
The ever-growing use of various vehicles for transportation, on the one hand, and the statistics ofsoaring road accidents resulting from human error, on the other hand, reminds us of the necessity toconduct more extensive research on the design, manufacturing and control of driver-less intelligentvehicles. For the automatic control of an autonomous vehicle, we need its dynamic...
متن کاملAn adaptive modified fuzzy-sliding mode longitudinal control design and simulation for vehicles equipped with ABS system
In order to improve the safety and longitudinal stability of a vehicle equipped with standard ABS system, this paper, analyzes the basic principles of vehicles stability and proposes a control strategy based on fuzzy adaptive control which will adjust PID gain parameters, using genetic algorithm. A linear three-degree-of-freedom (DOF) vehicle model was set up in Simulink and the stability test ...
متن کامل