Sustainable Agriculture: Stable Robust Control in Presence of Uncertainties for Multi-Functional Indoor Transportation of Farm Products

Ha Quang Thinh Ngo, Huynh Van Ngoc Son, Thanh Phuong Nguyen and Hung Nguyen
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Ha Quang Thinh Ngo: Department of Mechatronics, Faculty of Mechanical Engineering, Ho Chi Minh City University of Technology (HCMUT), 268 Ly Thuong Kiet Street, District 10, Ho Chi Minh City 700000, Vietnam
Huynh Van Ngoc Son: Department of Mechatronics, Faculty of Mechanical Engineering, Ho Chi Minh City University of Technology (HCMUT), 268 Ly Thuong Kiet Street, District 10, Ho Chi Minh City 700000, Vietnam
Thanh Phuong Nguyen: HUTECH Institute of Engineering, Ho Chi Minh City University of Technology (HUTECH), Ho Chi Minh City 700000, Vietnam
Hung Nguyen: HUTECH Institute of Engineering, Ho Chi Minh City University of Technology (HUTECH), Ho Chi Minh City 700000, Vietnam

Agriculture, 2020, vol. 10, issue 11, 1-18

Abstract: Currently, integrated trends play a key role in every aspect of automation applications. In particular, if the mechanization of agriculture becomes a competitive factor among farmers or nations, then the multi-functional transportation of agricultural products is inevitable in global trade. In sustainable transportation, the challenge of overcoming stable control in harsh environments, such as through imprecise parameters or varying loads, should be addressed. In this paper, a novel controller for a nonholonomic mechanical system able to adapt to uncertainties is proposed. Based on the multi-functional autonomous carrier (MAC), the system configuration of the kinematic and dynamic model is launched in order to identify the unstable problems that arise when tracking the trajectory. To solve these troubles, the decoupled formation of a MAC system has been investigated by considering two second-order components, namely a linear speed-based sub-system and angular speed-based sub-system. To stabilize the whole system using the Lyapunov theory, the advanced control techniques are studied. To validate the proposed approach, a series of test scenarios have been carried out. From the superior performance of numerous trials, it is clear that our approach is effective, feasible, and reasonable for the advanced control of agricultural applications.

Keywords: agricultural applications; multi-functional platform; nonlinear control; motion control (search for similar items in EconPapers)
JEL-codes: Q1 Q10 Q11 Q12 Q13 Q14 Q15 Q16 Q17 Q18 (search for similar items in EconPapers)
Date: 2020
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