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A nonlinear PI and backstepping based controller for tractor-steerable trailer influenced by slip

Huynh, Van T., Smith, Ryan N., Kwok, Ngai Ming , & Katupitiya, Jayantha (2012) A nonlinear PI and backstepping based controller for tractor-steerable trailer influenced by slip. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2012), IEEE, Minneapolis, MN, pp. 245-252.

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Abstract

Autonomous guidance of agricultural vehiclesis vital as mechanized farming production becomes more prevalent. It is crucial that tractor-trailers are guided with accuracy in both lateral and longitudinal directions, whilst being affected by large disturbance forces, or slips, owing to uncertain and undulating terrain. Successful research has been concentrated on trajectory control which can provide longitudinal and lateral accuracy if the vehicle moves without sliding, and the trailer is passive. In this paper, the problem of robust trajectory tracking along straight and circular paths of a tractor-steerable trailer is addressed. By utilizing a robust combination of backstepping and nonlinear PI control, a robust, nonlinear controller is proposed. For vehicles subjected to sliding, the proposed controller makes the lateral deviations and the orientation errors of the tractor and trailer converge to a neighborhood near the origin. Simulation results are presented to illustrate that the suggested controller ensures precise trajectory tracking in the presence of slip.

Impact and interest:

1 citations in Scopus
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ID Code: 48278
Item Type: Conference Paper
Keywords: nonlinear control, agriculture vehicles, steerable trailer control, slip model, backstepping control
DOI: 10.1109/ICRA.2012.6224567
ISBN: 978-1-4673-1403-9
Subjects: Australian and New Zealand Standard Research Classification > MATHEMATICAL SCIENCES (010000) > APPLIED MATHEMATICS (010200) > Dynamical Systems in Applications (010204)
Australian and New Zealand Standard Research Classification > AGRICULTURAL AND VETERINARY SCIENCES (070000) > AGRICULTURE LAND AND FARM MANAGEMENT (070100) > Agricultural Systems Analysis and Modelling (070105)
Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600) > Control Systems Robotics and Automation (090602)
Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > MECHANICAL ENGINEERING (091300) > Autonomous Vehicles (091303)
Divisions: Current > Schools > School of Electrical Engineering & Computer Science
Past > QUT Faculties & Divisions > Faculty of Science and Technology
Current > Institutes > Institute for Future Environments
Copyright Owner: © 2012 IEEE
Deposited On: 30 Jan 2012 07:54
Last Modified: 02 Nov 2012 19:34

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