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.
Copyright Owner
Elsevier B.V.
Copyright Date
2019
Language
en
File Format
application/pdf
Recommended Citation
Tu, Xuyong; Gai, Jingyao; and Tang, Lie, "Robust navigation control of a 4WD/4WS agricultural robotic vehicle" (2019). Agricultural and Biosystems Engineering Publications. 1064.
https://lib.dr.iastate.edu/abe_eng_pubs/1064
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.