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Autonomous trajectory tracking control method for an agricultural robotic vehicle

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International Journal of Agricultural and Biological Engineering 2024年第1期17卷 215-224页

作者： Jin Yan Wenguang Zhang Yong Liu Wei Pan Xiaoyu Hou Zhiyu Liu School of Computer Science and Engineering Nanjing University of Science and TechnologyNanjing 210094China School of Information Engineering Xuzhou University of TechnologyXuzhou 221018JiangsuChina National Key Laboratory of Transient Physics Nanjing University of Science and TechnologyNanjing 210094China School of Mechanical Engineering Nanjing University of Science and TechnologyNanjing 210094China

To address the nonlinearities and external disturbances in unstructured and complex agricultural environments,this paper investigates an autonomous trajectory tracking control method for agricultural ground vehicles.Firstly,this paper presents the design and implementation of a lightweight,modular two-wheeled differential drive vehicle equipped with two drive wheels and two caster wheels.The vehicle comprises drive wheel modules,passive wheel modules,battery modules,a vehicle frame,a sensor system,and a control system.Secondly,a novel robust trajectory tracking method was proposed,utilizing an improved pure pursuit algorithm.Additionally,an Online Particle Swarm Optimization Continuously Tuned PID(OPSO-CTPID)controller was introduced to dynamically search for optimal control gains for the PID controller.Simulation results demonstrate the superiority of the improved pure pursuit algorithm and the OPSO-CTPID control strategy.To validate the performance,the vehicle was integrated with a seeding and fertilizing machine to realize autonomous wheat seeding in an agricultural environment.Experimental outcomes reveal that the vehicle of this study completed a seeding operation exceeding 1 km in distance.The proposed method can robustly and smoothly track the desired trajectory with an accuracy of less than 10 cm for the root mean square error(RMSE)of the curve and straight lines,given a suitable set of parameters,meeting the requirements of agricultural applications.The findings of this study hold significant reference value for subsequent research on trajectory tracking algorithms for ground-based agricultural robots.

关键词： trajectory tracking autonomy control agricultural robotic vehicle online PSO continuously tuned PID dynamic pure pursuit algorithm

trajectory tracking Control of Euler-Lagrange Systems with ISS-Like Robustness to Actuator Noises

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Journal of Systems Science & Complexity 2022年第5期35卷 1719-1747页

作者： WU Haiwen XU Dabo School of Automation Nanjing University of Science and TechnologyNanjing 210094China Engineering and Technology Institute Groningen Faculty of Science and EngineeringUniversity of GroningenGroningen 9747 AGThe Netherlands Shien-Ming Wu School of Intelligent Engineering South China University of TechnologyGuangzhou 511442China

This paper studies global robust tracking of uncertain Euler-Lagrange systems with input disturbances.The authors develop a robust regulation-based approach for the problem.Specifically,by introducing a novel nonlinear internal model,the authors solve global asymptotic trajectory tracking with disturbance rejection of multiple step/sinusoidal signals with unknown amplitudes,frequencies,and phases.Moreover,the authors show that a robustness property to actuator noises can be guaranteed in a sense of strong integral input-to-state stability(iISS).That is,the closed-loop system is not only i ISS but also input-to-state stable(ISS)to small magnitude actuator noises.Furthermore,the authors explore a by-product overparametrized linear regression estimation,coming up with robust estimation of the unknown parameters.Finally,the authors present several numerical examples to illustrate the theoretical results.

关键词： Disturbance rejection Euler-Lagrange systems nonlinear control robust control trajectory tracking

Research on the trajectory tracking Control of a 6-DOF Manipulator Based on Fully-Actuated System Models

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Journal of Systems Science & Complexity 2022年第2期35卷 641-659页

作者： SUN Hao HUANG Ling HE Liang School of Automation Harbin University of Science and TechnologyHarbin 150080China School of Software Northwestern Polytechnical UniversityXi’an 710072China

The multi-degree of freedom(muti-DOF)manipulator system is a complex control system with the strong coupling feature and high nonlinearity.In this paper,trajectory tracking control of a six-degree of freedom(6-DOF)manipulator based on fully-actuated system models and a direct parametric method is investigated.The fully-actuated system model of the 6-DOF manipulator is established by using the Denavit Hartenberg(DH)notation and Euler-Lagrange dynamics.A disturbance observer is constructed to solve the nonlinear uncertainties such as unmodeled dynamics and external disturbances.Then,a controller is designed using the direct parametric method to make the 6-DOF manipulator reach the desired position with high accuracy.After that,a switching control strategy is developed to suppress the peak value belonging to the controller.Simulation results reveal the effect of the proposed control approach.

关键词： Direct parametric approach fully-actuated system manipulator nonlinear disturbance observer trajectory tracking

Mu-based trajectory tracking control for a quad-rotor UAV

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Control Theory and Technology 2022年第4期20卷 536-554页

作者： Abdallah Hossam Ayman El-Badawy Mechatronics Engineering Department German University in Cairo5th SettlementNew CairoCairo 11835Egypt

In this paper,the design and application of a robust mu-synthesis-based controller for quad-rotor trajectory tracking are presented.The proposed design approach guarantees robust performance over a weakly nonlinear range of operation of the quad-rotor,which is a practical range that suits various applications.The controller considers different structured and unstructured uncertainties,such as unmodeled dynamics and perturbation in the parameters.The controller also provides robustness against external disturbances such as wind gusts and wind turbulence.The proposed controller is fixed and linear;therefore,it has a very low computational cost.Moreover,the controller meets all design specifications without tuning.To validate this control strategy,the proposed approach is compared to a linear quadratic regulator(LQR)controller using a high-fidelity quad-rotor simulation environment.In addition,the experimental results presented show the validity of the proposed control strategy.

关键词： Mu-synthesis Robust control H-infinity trajectory tracking

Position Errors and Interference Prediction-Based trajectory tracking for Snake Robots

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IEEE/CAA Journal of Automatica Sinica 2023年第9期10卷 1810-1821页

作者： Dongfang Li Yilong Zhang Ping Li Rob Law Zhengrong Xiang Xin Xu Limin Zhu Edmond Q.Wu IEEE School of Electrical Engineering and Automation Fuzhou UniversityFuzhou 350108 the Sino-US Global Logistics Institute Shanghai Jiao Tong UniversityShanghai 200240 the Key Laboratory for Agricultural Machinery Intelligent Control and Manufacturing of Fujian Education Institutions Fuzhou 350108China School of Biological Science and Medical Engineering and the Key Laboratory for Biomechanics and Mechanobiology of Ministry of Education Beihang UniversityBeijing 100191China University of Macao Macao 999078China School of Automation Nanjing University of Science and TechnologyNanjing 210094China College of Intelligence Science and Technology National University of Defence TechnologyChangsha 410073China School of Mechanical Engineering Shanghai Jiao Tong UniversityShanghai 200240China Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China

This work presents a trajectory tracking control method for snake robots.This method eliminates the influence of time-varying interferences on the body and reduces the offset error of a robot with a predetermined trajectory.The optimized line-of-sight(LOS)guidance strategy drives the robot’s steering angle to maintain its anti-sideslip ability by predicting position errors and interferences.Then,the predictions of system parameters and viscous friction coefficients can compensate for the joint torque control input.The compensation is adopted to enhance the compatibility of a robot within ever-changing environments.Simulation and experimental outcomes show that our work can decrease the fluctuation peak of the tracking errors,reduce adjustment time,and improve accuracy.

关键词： Anti-sideslip compensation snake robot trajectory tracking

Event-triggered adaptive finite time trajectory tracking control for an under actuated vessel considering unknown time-varying disturbances

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Transportation Safety and Environment 2023年第4期5卷 155-163页

作者： Qiwen Wang Qiang Zhang Yugang Wang Yancai Hu Shaoyi Guo School of Navigation and Shipping Shandong Jiaotong UniversityHexing Road 1508Weihai 264200ShandongChina

This paper aims to solve the finite-time trajectory tracking problem of underactuated surface ships under the influence of dynamic uncertainty,unknown external time-varying interference and limited communication resources.An event-triggered robust adaptive finite-time trajectory tracking control method for underactuated ships is designed by combining the existing trajectory tracking control methods and engineering needs in actual navigation.It can obviously improve the tracking accuracy of the ship,and complete the tracking task safely and efficiently.This scheme transforms the composite uncertain vector synthesized by uncertain parameters and external disturbances into a linear parameterized form.Next,considering the limitation of communication resources,a relative threshold event triggering mechanism is introduced to further extend the triggering time interval on the basis of the fixed threshold triggering scheme.Then,an event-triggered robust adaptive finite-time trajectory tracking control scheme is designed for underactuated ships,and a rigorous stability proof is provided through Lyapunov stability theory.Simulation experiment is carried out in MATLAB and the results show that the finite-time trajectory tracking control scheme proposed in this paper can effectively solve the problems of dynamic uncertainty.unknown time-varying external interference and limitation of communication resources.This paper can provide theoretical support for the autonomous navigation of intelligent ships.

关键词： surface vessel limited time event triggering trajectory tracking

Optimised trajectory tracking control for quadrotors based on an improved beetle antennae search algorithm

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Journal of Control and Decision 2023年第3期10卷 382-392页

作者： Zhe Lin Ping Li Zhaoqi Zhang College of Information Science and Engineering Huaqiao UniversityXiamenPeople’s Republic of China

This paper focuses on the trajectory tracking of quadrotors under bounded external disturbances.An optimised robust controller is proposed to drive the position and attitude ofa quadrotor converge to their references quickly. At first, nonsingular fast terminal slidingmode control is developed, which can guarantee not only the stability but also finite-timeconvergence of the closed-loop system. As the parameters of the designed controllers playa vital role for control performance, an improved beetle antennae search algorithm is proposedto optimise them. By employing the historical information of the beetle’s antennaeand dynamically updating the step size as well as the range of its searching, the optimisingis accelerated considerably to ensure the efficiency of the quadrotor control. The superiorityof the proposed control scheme is demonstrated by simulation experiments, from whichone can see that both the error and the overshooting of the trajectory tracking are reducedeffectively.

关键词： Quadrotor control trajectory tracking nonsingular fast terminal sliding mode control optimisation improved beetle antennae search algorithm

Data Driven Model-Free Adaptive Control Method for Quadrotor trajectory tracking Based on Improved Sliding Mode Algorithm

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Journal of Shanghai Jiaotong university(Science) 2022年第6期27卷 790-798页

作者：袁冬冬王彦恺 School of Aerospace Engineering Beijing Institute of TechnologyBeijing 100081China

In order to solve the problems of dynamic modeling and complicated parameters identification of trajectory tracking control of the quadrotor,a data driven model-free adaptive control method based on the improved sliding mode control(ISMC)algorithm is designed,which does not depend on the precise dynamic model of the quadrotor.The design of the general sliding mode control(SMC)algorithm depends on the mathematical model of the quadrotor and has chattering problems.In this paper,according to the dynamic characteristics of the quadrotor,an adaptive update law is introduced and a saturation function is used to improve the SMC.The proposed control strategy has an inner and an outer loop control structures.The outer loop position control provides the required reference attitude angle for the inner loop.The inner loop attitude control ensures rapid convergence of the attitude angle.The effectiveness and feasibility of the algorithm are verified by mathematical simulation.The mathematical simulation results show that the designed model-free adaptive control method of the quadrotor is effective,and it can effectively realize the trajectory tracking control of the quadrotor.The design of the controller does not depend on the kinematic and dynamic models of the unmanned aerial vehicle(UAV),and has high control accuracy,stability,and robustness.

关键词： quadrotor trajectory tracking improved sliding mode control(ISMC) data driven model-free adaptive control

Nonlinear model predictive control for trajectory tracking of quadrotors using Lyapunov techniques

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Science China(Information Sciences) 2022年第6期65卷 269-270页

作者： Dong WANG Quan PAN Jinwen HU Chunhui ZHAO School of Automation Northwestern Polytechnical University

Dear editor,In recent years, the research on trajectory tracking and collision avoidance control of quadrotor unmanned aerial vehicles(UAVs) has gained considerable attention [1, 2]. Since quadrotor UAVs are used exte... 详细信息

关键词： trajectory tracking obstacle avoidance input constraints commercial quadrotors nonlinear model predictive control