全部 标题 作者
关键词 摘要

OALib Journal期刊
ISSN: 2333-9721
费用:99美元

查看量下载量

相关文章

更多...

基于迭代学习的农业车辆路径跟踪控制

DOI: 10.3724/SP.J.1004.2014.00368, PP. 368-372

Keywords: 迭代学习控制,农业车辆,移动机器人,路径跟踪

Full-Text   Cite this paper   Add to My Lib

Abstract:

?由于农作物的播种、收获、除草和农药化肥喷洒具有周期性的特点,农业车辆在执行农田作业时具有较强的重复性.基于迭代学习控制(Iterativelearningcontrol,ILC)方法研究农业车辆的路径跟踪问题,建立了农业车辆的两轮移动机器人运动学模型,设计了车辆路径跟踪的迭代学习控制算法,并基于压缩映射方法理论上证明了算法的收敛性.研究表明,迭代学习控制可有效利用农业车辆运行的重复信息,实现车辆期望路径有限区间内的高精度完全跟踪控制.仿真示例验证了本文方法的有效性.

References

[1]  Huang Y B, Lan Y B, Steven J T, Alex F, Wesley C H, Ronald E L. Development of soft computing and applications in agricultural and biological engineering. Computers and Electronics in Agriculture, 2010, 71(2): 107-127
[2]  Thuilot B, Cariou C, Martinet P, Berducat M. Automatic guidance of a farm tractor relying on a single CP-DGPS. Autonomous robots, 2002, 13(1): 87-104
[3]  Li Jin, Chen Wu-Wei, Li Bi-Chun, Wang Shan-Bin. Road recognition and tracking control of a vision guided AGV. Transactions of the Chinese Society for Agriculture Machinery, 2008, 39(2): 20-24(李进, 陈无畏, 李碧春, 王檀彬. 自动导引车视觉导航的路径识别和跟踪控制. 农业机械学报, 2008, 39(2): 20-24)
[4]  Dong Wen-Jie, Huo Wei. Tracking control of mobile robots with nonholonomic constraint. Acta Automatica Sinica, 2000, 36(1): 1-6(董文杰, 霍伟. 受非完整约束移动机器人的跟踪控制.自动化学报, 2000, 36(1): 1-6)
[5]  Jiang Z P, Nijmeijer H. Tracking control of mobile robots: a case study in backstepping. Automatica, 1998, 33(7): 1393-1399
[6]  Kunar U, Sukavanam N. Backstepping based trajectory tracking control of a four wheeled mobile robot. International Journal of Advanced Robotic Systems, 2008, 5(4): 403-410
[7]  Fang H, Fan R X, Thuilot B, Martinet P. Trajectory tracking control of farm vehicles in presence of sliding. Robotics and Autonomous Systems, 2006, 54(10): 828-839
[8]  Fang H, Lenain R, Fan R X, Thuilot B, Martinet P. Sliding mode control of automatic guidance of farm vehicles in the presence of sliding. In: Proceedings of the 4th International Symposium on Robotics and Automation. Queretaro, Mexico, 2004. 582-587
[9]  Tan Fo-Xiao, Liu De-Rong, Guan Xin-Ping, Xing Shao-Min. Trajectory tracking control of nonholonomic mobile robot systems based on unfalsified control theory. Control and Decision, 2010, 35(11): 1693-1697(谭拂晓, 刘德荣, 关新平, 邢少民. “非伪”理论的非完整移动机器人轨迹跟踪控制.控制与决策, 2010, 35(11): 1693-1697)
[10]  Liang Zhen-Ying, Wang Chao-Li. Robust stabilization of nonholonomic chained form systems with uncertainties. Acta Automatica Sinica, 2011, 37(2): 129-142(梁振英, 王朝立. 不确定非完整链式系统的鲁棒镇定. 自动化学报, 2011, 37(2): 129-142)
[11]  Derrick J B, David M B. Adaptive steering control of a farm tractor with varying yaw rate properties. Journal of Field Robotics, 2009, 26(6-7): 519-536
[12]  Arimoto S, Kawamura S, Miyazaki F. Bettering operation of robots by learning. Journal of Robotic Systems, 1984, 1(2): 123-140
[13]  Bristow D A, Tharayi M, Alleyne A G. A survey of iterative learning control. IEEE Control Systems Magazine, 2006, 26(3): 96-114
[14]  Ahn H S, Chen Y, Moore K L, Iterative learning control: brief survey and categorization. IEEE Transactions on Systems, Man, and Cybernetics ——-Part C: Applications and Reviews, 2007, 37(6): 1099-1121
[15]  Hou Z S, Xu J X, Yan J W. An iterative learning approach for density control of freeway traffic flow via ramp metering. Transportation Research: Part C, 2008, 16(1): 71-79
[16]  Bu X H, Yu F S, Hou Z S, Wang F Z. Iterative learning control for a class of nonlinear systems with random packet losses. Nonlinear Analysis: Real World Applications, 2013, 14(1): 576-580
[17]  Chi Rong-Hu, Sui Shu-Lin, Hou Zhong-Sheng. A new discrete-time adaptive ILC for nonlinear systems with time-varying parametric uncertainties. Acta Automatica Sinica, 2008, 34(7): 805-808(池荣虎, 隋树林, 侯忠生. 非线性时变参数不确定系统的自适应迭代学习控制. 自动化学报, 2008, 34(7): 805-808)
[18]  Gao F R, Yang Y, Shao C. Robust iterative learning control with applications to injection molding process. Chemical Engineering Science, 2002, 56(24): 7025-7034
[19]  Wu S C, Tomizuka M. An iterative learning control design for self-servowriting in hard disk drives. Mechatronics, 2010, 20(1): 53-58
[20]  Hou Z S, Wang Y, Yin C K, Tang T. Terminal iterative learning control based station stop control of a train. International Journal of Control, 2011, 48(7):1263-1274
[21]  Lee H S, Bien Z. A note on convergence property of iterative learning controller with respect to sup-norm. Automatica, 1997, 33(8): 1591-159

Full-Text

Contact Us

service@oalib.com

QQ:3279437679

WhatsApp +8615387084133