A robust H infinity-based steering assistance system for the wheeled tractor

文献类型： 外文期刊

第一作者： Shen, Cheng

作者： Shen, Cheng;Liang, Jinhao;Yin, Guodong;Shen, Cheng;Liang, Suming

作者机构：

关键词： Agricultural machinery; automatic navigation; an output-feedback robust controller; driver-vehicle model; path tracking

期刊名称：SCIENCE PROGRESS （ 影响因子：1.512； 五年影响因子：2.051 ）

ISSN： 0036-8504

年卷期： 2021 年 104 卷 4 期

页码：

收录情况： SCI

摘要： Agricultural machine automatic navigation poses great challenge to the precise agricultural technology system nowadays. To this end, this paper proposes a novel steering assistance system (SAS) to assist drivers in the path-tracking. First, the driver steering model is investigated through the driver simulator tests. Combining the wheeled tractor kinematics model, a driver-vehicle model is developed. Then, a polytopic linear parameter-varying (LPV) system is adopted to describe the uncertainties, including time-varying driver model parameters and velocity, in the model, based on which an output-feedback robust controller is developed to ensure robust stability within the polytope space. Moreover, a regional pole placement method is adopted to improve the transient performance of the system. Finally, driver-in-the-loop and field tests conducted to value the controller. The results show the effectiveness of the proposed method to improve the path-tracking performance for the agricultural machine navigation, while reducing the physical and mental workload of drivers. This control method is expected to be a paradigm for the precise navigation system of the agricultural machinery.

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