Robust Adaptive Control of Automatic Guidance of Farm Vehicles in the Presence of Sliding

— High-precision autofarming is rapidly becoming a reality with the requirements of agricultural applications. Lots of research works have been focused on the automatic guidance control of farm vehicles, satisfactory results have been reported under the assumption that vehicles move without sliding. But unfortunately the pure rolling constraints are not always satisfied especially in agriculture applications where the working conditions are rough and not expectable. In this paper the problem of path following control of autonomous farm vehicles in presence of sliding is addressed. To take sliding effects into account, a vehicle-oriented kinematic model is constructed in which sliding effects are introduced as additive unknown parameters of the ideal kinematic model. Based on backstepping method a stepwise procedure is proposed to design an adaptive controller in which timeinvariant sliding effects are learned and compensated by parameter adaptations. It is theoretically proven that ...

• Type: Conference
• Year: 2005
• Where: ICRA
• Authors: Hao Fang, Roland Lenain, Benoit Thuilot, Philippe Martinet
• Keywords: Adaptive Controllers, Farm Vehicles, ICRA 2005, Robotics, Timeinvariant Sliding Effects