Agricultural and Biosystems Engineering Publications

Campus Units

Agricultural and Biosystems Engineering, Human Computer Interaction, Plant Sciences Institute

Document Type

Article

Publication Version

Accepted Manuscript

Publication Date

9-2019

Journal or Book Title

Computers and Electronics in Agriculture

Volume

164

First Page

104892

DOI

10.1016/j.compag.2019.104892

Abstract

This paper reports the development of a robust controller based on backstepping sliding mode control (SMC) for a four-wheel-steering (4WS) and four-wheel-drive (4WD) agricultural robotic vehicle. Two RTK-GPS receivers were installed on the vehicle to provide feedback of the robot’s location and orientation. Kinematic models of front wheel steering and coordinated steering modes and their corresponding navigation controllers were developed. Diverse reference trajectories were designed and used to validate the controller performance. The experimental results demonstrated the capability and robustness of the developed SMC navigation controller in controlling a nonholonomic system that has a high degree of freedom.

Comments

This is a manuscript of an article published as Tu, Xuyong, Jingyao Gai, and Lie Tang. "Robust navigation control of a 4WD/4WS agricultural robotic vehicle." Computers and Electronics in Agriculture 164 (2019): 104892. DOI: 10.1016/j.compag.2019.104892. Posted with permission.

Copyright Owner

Elsevier B.V.

Language

en

File Format

application/pdf

Available for download on Sunday, August 08, 2021

Published Version

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