Path tracking of unmanned agricultural tractors based on a novel adaptive second-order sliding mode control |
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| Institution: | 1. School of Agriculture Engineering, Jiangsu University, Zhenjiang 212013, Jiangsu, China;2. School of Electrical and Information Engineering, Jiangsu University, Zhenjiang 212013, Jiangsu, China;1. School of Automotive and Transportation Engineering, Hefei University of Technology, Hefei 230009, China;2. SAIC Motor Corporation Limited, Shanghai 201804, China;1. CIRAIG, Chemical Engineering Department, Polytechnique Montréal, P.O. Box 6079, Montreal, QC H3C 3A7, Canada;2. USC 1422 GRAPPE, École Supérieure d''Agricultures (ESA)-INRAE, Angers, France;3. ITAP, Univ Montpellier, INRAE, ELSA Research Group, Montpellier, France;4. Department of Construction Engineering, École de Technologie Supérieure, 1100 Notre-Dame Ouest, Montreal, QC H3C 1K3, Canada;5. CIRAIG, ESG UQAM, Strategy, Corporate & Social Responsibility Department, Montreal, QC H3C 3P8, Canada |
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| Abstract: | Unmanned tractors are widely adopted in agricultural operations as autonomous driving technology progresses. The current path tracking control methods are limited by the unstructured farmland, the accuracy and anti-interference ability needed to be improved. This paper presents a novel adaptive second-order sliding mode (ASOSM) control method to tackle the aforementioned problems in practical implementation. First, we introduce a preview lateral offset model based on the preview kinematic and tractor dynamic model, which helps solve the under-actuated problem in path tracking. Then, the ASOSM controller is designed using the revamped adding a power integrator (API) and adaptive mechanism, which ensures that the sliding variable is converged to zero within the finite time. Meanwhile, the chattering problem in traditional sliding mode control is relieved. Finally, a high-fidelity and full-car model is established under Simulink/Carsim environment, and comparative simulations conrm the superiority of the designed control method. |
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