可变形土壤中车辆轨迹跟踪的耦合非线性控制器:在四轮移动农业机器人上的应用

IF 2.4 3区 工程技术 Q3 ENGINEERING, ENVIRONMENTAL
Rania Majdoubi , Lhoussaine Masmoudi , Abderrahmane Elharif
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引用次数: 1

摘要

在本文中,移动农业机器人的纵向和横向耦合控制“农业生态机器人”被提及。作为第一步,牛顿定律被用于开发移动农业机器人的动力学建模。车轮与地面的接触使用称为Extended Bekker的Terramechanics定律进行建模。然后使用汽车模拟器对所开发的车辆模型进行验证。然后,所开发的汽车模型被用于推导耦合模型横向和纵向车辆动力学的控制规律。所提出的控制器使用两个重叠的控制器来实现,第一个是处理纵向和横向动力学的耦合控制以控制牵引力,第二个是最小化打滑的控制器,这两个控制器都是使用李雅普诺夫理论开发的。将该控制器与不根据高速度和低速度两种情况控制滑移率的动力学进行了比较,并使用应用于移动机器人“农业生态机器人”的汽车模拟器验证了该控制律。该控制律的结果表明,在农田等恶劣环境中航行时,假设低速命令以确保系统稳定性,滑动控制的必要性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Coupled nonlinear controller for vehicle trajectory tracking in a deformable soil: Application to a four-wheeled mobile agricultural robot
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来源期刊
Journal of Terramechanics
Journal of Terramechanics 工程技术-工程:环境
CiteScore
5.90
自引率
8.30%
发文量
33
审稿时长
15.3 weeks
期刊介绍: The Journal of Terramechanics is primarily devoted to scientific articles concerned with research, design, and equipment utilization in the field of terramechanics. The Journal of Terramechanics is the leading international journal serving the multidisciplinary global off-road vehicle and soil working machinery industries, and related user community, governmental agencies and universities. The Journal of Terramechanics provides a forum for those involved in research, development, design, innovation, testing, application and utilization of off-road vehicles and soil working machinery, and their sub-systems and components. The Journal presents a cross-section of technical papers, reviews, comments and discussions, and serves as a medium for recording recent progress in the field.
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