Trajectory tracking control of farm vehicles in presence of sliding

In automatic guidance of agriculture vehicles, lateral control is not the only requirement. Much research work has been focused on trajectory tracking control which can provide high longitudinal-lateral control accuracy. Satisfactory results have been reported as soon as vehicles move without sliding. But unfortunately pure rolling constraints are not always satisfied especially in agriculture applications where working conditions are rough and not predictable. In this paper the problem of trajectory tracking control of autonomous farm vehicles in the presence of sliding is addressed. To take sliding effects into account, three variables which characterize sliding effects are introduced into the kinematic model based on geometric and velocity constraints. With a linearized approximation, a refined kinematic model is obtained in which sliding effects appear as additive unknown parameters to the ideal kinematic model. By an integrating parameter adaptation technique with a backstepping ...

• Type: Journal
• Year: 2006
• Where: RAS
• Authors: Hao Fang, Ruixia Fan, Benoit Thuilot, Philippe Martinet
• Keywords: Adaptive Controllers, Kinematic Model, RAS 2006, Vehicles