Robust Trajectory Tracking Control of an Autonomous Tractor-Trailer Considering Model Parameter Uncertainties and Disturbances

En Lu (), Jialin Xue, Tiaotiao Chen and Song Jiang
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En Lu: Key Laboratory for Theory and Technology of Intelligent Agricultural Machinery and Equipment, Jiangsu University, No. 301 Xuefu Road, Zhenjiang 212013, China
Jialin Xue: Key Laboratory for Theory and Technology of Intelligent Agricultural Machinery and Equipment, Jiangsu University, No. 301 Xuefu Road, Zhenjiang 212013, China
Tiaotiao Chen: Key Laboratory for Theory and Technology of Intelligent Agricultural Machinery and Equipment, Jiangsu University, No. 301 Xuefu Road, Zhenjiang 212013, China
Song Jiang: School of Mechanical Engineering, Jiangsu University, No. 301 Xuefu Road, Zhenjiang 212013, China

Agriculture, 2023, vol. 13, issue 4, 1-17

Abstract: This paper discusses the robust trajectory tracking control of an autonomous tractor-trailer in agricultural applications. Firstly, considering the model parameter uncertainties and various disturbances, the kinematic and dynamic models of the autonomous tractor-trailer system are established. Moreover, the coordinate transformation is adopted to convert the trajectory tracking error into a new unconstrained error state space model. On this basis, the prescribed performance control (PPC) technique is designed to ensure the convergence speed and final tracking control accuracy of the tractor-trailer control system. Then, this paper designs a double closed-loop control structure. The posture control level adopts the model predictive control (MPC) method, and the dynamic level adopts the sliding mode control (SMC) method. At the same time, it is worth mentioning that the nonlinear disturbance observer (NDO) is designed to estimate all kinds of system disturbances and compensate for the tracking control system to improve the system’s robustness. Finally, the proposed control strategy is validated through comparative simulations, demonstrating its effectiveness in achieving robust trajectory tracking of the autonomous tractor-trailer system.

Keywords: tractor-trailer; trajectory tracking; prescribed performance; model predictive control; robust sliding mode 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: 2023
References: View complete reference list from CitEc
Citations: View citations in EconPapers (5)

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