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This paper focuses on the trajectory tracking control problem for an articulated unmanned ground vehicle. We propose and compare two approaches in terms of performance and computational complexity. The first uses a nonlinear mathematical model derived from first principles and combines a nonlinear model predictive controller (NMPC) with a nonlinear moving horizon estimator (NMHE) to produce a control strategy. The second is based on an input-state linearization (ISL) of the original model followed by linear model predictive control (LMPC). A fast real-time iteration scheme is proposed, implemented for the NMHE-NMPC framework and benchmarked against the ISL-LMPC framework, which is a traditional and cheap method. The experimental results for a time-based trajectory show that the NMHE-NMPC framework with the proposed real-time iteration scheme gives better trajectory tracking performance than the ISL-LMPC framework and the required computation time is feasible for real-time applications. Moreover, the ISL-LMPC produces results of a quality comparable to the NMHE-NMPC framework at a significantly reduced computational cost. [ABSTRACT FROM AUTHOR]

This paper proposes a new robust trajectory tracking error-based control approach for unmanned ground vehicles. A trajectory tracking error-based model is used to design a linear model predictive controller and its control action is combined with feedforward and robust control actions. The experimental results show that the proposed control structure is capable to let a tractor–trailer system track both linear and curvilinear target trajectories with low tracking error. [ABSTRACT FROM PUBLISHER]

This paper addresses the trajectory tracking problem of an autonomous tractor-trailer system by using a decentralized control approach. A fully decentralized model predictive controller is designed in which interactions between subsystems are neglected and assumed to be perturbations to each other. In order to have a robust design, a tube-based approach is proposed to handle the differences between the nominal model and real system. Nonlinear moving horizon estimation is used for the state and parameter estimation after each new measurement, and the estimated values are fed to robust tube-based decentralized nonlinear model predictive controller. The proposed control scheme is capable of driving the tractor–trailer system to any desired trajectory ensuring high control accuracy and robustness against neglected subsystem interactions and environmental disturbances. The experimental results show an accurate trajectory tracking performance on a bumpy grass field. [ABSTRACT FROM PUBLISHER]

Provision of some autonomous functions to an agricultural vehicle would lighten the job of the operator but in doing so, the accuracy should not be lost to still obtain an optimal yield. Autonomous navigation of an agricultural vehicle involves the control of different dynamic subsystems, such as the yaw angle dynamics and the longitudinal speed dynamics. In this study, a proportional-integral-derivative controller is used to control the longitudinal velocity of the tractor. For the control of the yaw angle dynamics, a proportional-derivative controller works in parallel with a type-2 fuzzy neural network. In such an arrangement, the former ensures the stability of the related subsystem, while the latter learns the system dynamics and becomes the leading controller. In this way, instead of modeling the interactions between the subsystems prior to the design of a model-based control, we develop a control algorithm which learns the interactions online from the measured feedback error. In addition to the control of the stated subsystems, a kinematic controller is needed to correct the errors in both the x- and the y- axis for the trajectory tracking problem of the tractor. To demonstrate the real-time abilities of the proposed control scheme, an autonomous tractor is equipped with the use of reasonably priced sensors and actuators. Experimental results show the efficacy and the efficiency of the proposed learning algorithm. [ABSTRACT FROM PUBLISHER]

One of the most critical tasks in tractor operation is the accurate steering during field operations, e.g., accurate trajectory following during mechanical weeding or spraying, to avoid damaging the crop or planting when there is no crop yet. To automate the trajectory following problem of an autonomous tractor-trailer system and also increase its steering accuracy, a nonlinear model predictive control approach has been proposed in this paper. For the state and parameter estimation, moving horizon estimation has been chosen since it considers the state and the parameter estimation within the same problem and also constraints both on inputs and states can be incorporated. The experimental results show the accuracy and the efficiency of the proposed control scheme in which the mean values of the Euclidean error for the tractor and the trailer, respectively, are 6.44 and 3.61 cm for a straight line trajectory and 49.78 and 41.52 cm for a curved line trajectory. [ABSTRACT FROM AUTHOR]

Two main challenges in using a pneumatic artificial muscle (PAM) actuator are the nonlinearity of pneumatic system and the nonlinearity of the PAM dynamics. The latter is complicated to characterize. In this paper, a Maxwell-slip model used as a lumped-parametric quasi-static model is proposed to capture the force/length hysteresis of a PAM. The intuitive selection of elements in this model interprets the unclear, but blended contributing causes of the hysteresis very well, which are assumed to originate from the dry friction of the double helix weaving of the PAM braided shell, the friction of the weaving and the bladder, the elasticity of the bladder and/or the deformation of the conical parts of a PAM close to the end caps. The obtained model is simple, but physically meaningful and easy to handle in terms of control. [ABSTRACT FROM PUBLISHER]

This paper investigates the control of pressure in a hydraulic circuit containing a dead band and a time varying delay. The dead band is considered as a linear term and a perturbation. A sliding mode controller is designed. Stability conditions are established by making use of Lyapunov—Krasovskii functionals, nonperfect time delay estimation is studied and a condition for the effect of uncertainties on the dead zone on stability is derived. Also, the effect of different LMI formulations on conservativeness is studied. The control law is tested in practice. [ABSTRACT FROM AUTHOR]