A sliding-mode variable-structure controller based on exact feedback linearization for automatic navigation system

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	A sliding-mode variable-structure controller based on exact feedback linearization for automatic navigation system
	Bai XP(白晓平); Hu JT(胡静涛); Gao L(高雷); Zhang T(张天)
刊名	INTERNATIONAL JOURNAL OF AGRICULTURAL AND BIOLOGICAL ENGINEERING
	2016
卷号	9 期号:5 页码:158-165
关键词	agricultural machine affine nonlinear kinematics model exact feedback linearization sliding-mode variable-structure controller
ISSN号	1934-6344
通讯作者	胡静涛
产权排序	1
中文摘要	In order to improve the path tracking accuracy and robustness of the agricultural machinery navigation system, a sliding-mode variable-structure controller based on exact feedback linearization was presented. Firstly, based on the differential geometry theory and the affine nonlinear kinematics model, the corresponding nonlinear coordinate change matrix and nonlinear state variable feedback equations were deduced, and an exact feedback linearization model was then established. Secondly, based on the exact feedback linearization model, a sliding-mode variable-structure controller was designed by selecting suitable linear switching function and exponential reaching law. Finally, the comparative experiments were carried out. And the experimental results indicated that the proposed method had a high tracking accuracy and robustness. The maximum lateral error of the straight line tracking was less than 0.06 m, and maximum lateral error of the curve path tracking was less than 0.09 m. Experimental results show that the transplanter based on this automatic navigation system can effectively track the predefined path.
WOS标题词	Science & Technology ; Life Sciences & Biomedicine
类目[WOS]	Agricultural Engineering
研究领域[WOS]	Agriculture
关键词[WOS]	ADAPTIVE STEERING CONTROL ; FARM TRACTOR
收录类别	SCI
语种	英语
WOS记录号	WOS:000386351300018
内容类型	期刊论文
源URL	[http://ir.sia.cn/handle/173321/19376]
专题	沈阳自动化研究所_信息服务与智能控制技术研究室
推荐引用方式 GB/T 7714	Bai XP,Hu JT,Gao L,et al. A sliding-mode variable-structure controller based on exact feedback linearization for automatic navigation system[J]. INTERNATIONAL JOURNAL OF AGRICULTURAL AND BIOLOGICAL ENGINEERING,2016,9(5):158-165.
APA	Bai XP,Hu JT,Gao L,&Zhang T.(2016).A sliding-mode variable-structure controller based on exact feedback linearization for automatic navigation system.INTERNATIONAL JOURNAL OF AGRICULTURAL AND BIOLOGICAL ENGINEERING,9(5),158-165.
MLA	Bai XP,et al."A sliding-mode variable-structure controller based on exact feedback linearization for automatic navigation system".INTERNATIONAL JOURNAL OF AGRICULTURAL AND BIOLOGICAL ENGINEERING 9.5(2016):158-165.