Path Tracking Control of a Tractor on a Sloping Road with Steering Compensation

Jieyong Ou, Qiang Fu, Rui Tang, Jianwei Du and Lihong Xu ()
Additional contact information
Jieyong Ou: School of Electronic and Information Engineering, Tongji University, Shanghai 201804, China
Qiang Fu: China Mobile (Chengdu) Industry Research Institute, Chengdu 610000, China
Rui Tang: China Mobile (Chengdu) Industry Research Institute, Chengdu 610000, China
Jianwei Du: China Mobile (Chengdu) Industry Research Institute, Chengdu 610000, China
Lihong Xu: School of Electronic and Information Engineering, Tongji University, Shanghai 201804, China

Agriculture, 2023, vol. 13, issue 11, 1-22

Abstract: Agricultural tractors are subject to lateral forces when traveling on slopes, making it difficult to accurately follow a set course. In this paper, a steering compensation method is first proposed based on the force analysis of a tractor traveling on slopes, which compensates the steering angle according to the friction force and gravity force imposed on the tractor. Further, when traveling on slopes, acceleration and a load applied to the tractor are usually time-varying. To address this problem, this paper proposes a steering compensator that can automatically adjust a compensation coefficient, as well as a design for a model predictive controller with the steering compensator for a tractor. Simulation results show that under different traveling speeds, turning radius, and slope angles, the steering compensator allows the tractor to travel more smoothly, i.e., the distance between the actual traveling route and the reference route fluctuates within a smaller range. Further, during straight-line traveling, the static error can be effectively reduced, i.e., the distance between the actual traveling route and the reference route is closer to zero. Overall, the steering compensator enables the tractor to track the reference route more accurately.

Keywords: path tracking; MPC; sloping road; steering compensation; PID; unmanned tractor (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: 2023
References: View complete reference list from CitEc
Citations:

Downloads: (external link)
https://www.mdpi.com/2077-0472/13/11/2160/pdf (application/pdf)
https://www.mdpi.com/2077-0472/13/11/2160/ (text/html)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:gam:jagris:v:13:y:2023:i:11:p:2160-:d:1281802

Access Statistics for this article

Agriculture is currently edited by Ms. Leda Xuan

More articles in Agriculture from MDPI
Bibliographic data for series maintained by MDPI Indexing Manager ().