Trajectory Tracking Control of an Orchard Robot Based on Improved Integral Sliding Mode Algorithm

Yu Luo, Dekui Pu, Xiaoli He, Lepeng Song (), Simon X. Yang, Weihong Ma and Hanwen Shi
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Yu Luo: School of Electronic and Electrical Engineering, Chongqing University of Science & Technology, Chongqing 401331, China
Dekui Pu: School of Electronic and Electrical Engineering, Chongqing University of Science & Technology, Chongqing 401331, China
Xiaoli He: School of Electronic and Electrical Engineering, Chongqing University of Science & Technology, Chongqing 401331, China
Lepeng Song: School of Electronic and Electrical Engineering, Chongqing University of Science & Technology, Chongqing 401331, China
Simon X. Yang: Advanced Robotics and Intelligent Systems Laboratory, School of Engineering, University of Guelph, Guelph, ON N1G 2W1, Canada
Weihong Ma: Information Technology Research Center, Beijing Academy of Agriculture and Forestry Sciences, Beijing 100097, China
Hanwen Shi: School of Electronic and Electrical Engineering, Chongqing University of Science & Technology, Chongqing 401331, China

Agriculture, 2025, vol. 15, issue 17, 1-33

Abstract: To address the problems of insufficient trajectory tracking accuracy, pronounced jitter over undulating terrain, and limited disturbance rejection in orchard mobile robots, this paper proposes a trajectory tracking control strategy based on a double-loop adaptive sliding mode. Firstly, a kinematic model of the orchard robot is constructed and a time-varying integral terminal sliding surface is designed to achieve global fast finite-time convergence. Secondly, a sinusoidal saturation switching function with a variable boundary is employed to suppress the high-frequency chattering inherent in sliding mode control. Thirdly, an improved double-power reaching law (Improved DPRL) is introduced to enhance disturbance rejection in the inner loop while ensuring continuity of the outer-loop output. Finally, Lyapunov stability theory is used to prove the asymptotic stability of the double-loop system. The experimental results show that attitude angle error settles within 0.01 rad after 0.144 s, while the position errors in both the x-axis and y-axis directions settle within 0.01 m after 0.966 s and 0.753 s, respectively. Regarding position error convergence, the Integral of Absolute Error (IAE)/Integral of Squared Error (ISE)/Integral of Time-Weighted Absolute Error (ITAE) are 0.7629 m, 0.7698 m, and 0.2754 m, respectively; for the attitude angle error, the IAE/ISE/ITAE are 0.0484 rad, 0.0229 rad, and 0.1545 rad, respectively. These results indicate faster convergence of both position and attitude errors, smoother control inputs, and markedly reduced chattering. Overall, the findings satisfy the real-time and accuracy requirements of fast trajectory tracking for orchard mobile robots.

Keywords: time-varying integral terminal sliding mode control; orchard mobile robots; improved double-power reaching law; trajectory tracking (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: 2025
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