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Self-adaptive Variable Structure Control for Autonomous Guided Agricultural Vehicle

文献类型： 会议论文

第一作者： Zhou Jianjun

作者： Zhou Jianjun 1 ; WangXiu 1 ; Chen Liping 1 ; Deng Wei 1 ; Cai Jichen 1 ;

作者机构： 1.Beijing Research Center of Intelligent Equipment for Agriculture, Beijing Academy of Agriculture and Forestry Sciences, Beijing 100097, China

关键词： automated guided vehicle;variable structure control;genetic algorithm;encoder;electric steering.

会议名称： Annual International Meeting of the American Society of Agricultural and Biological Engineers

主办单位：

页码： 4402-4408

摘要： An electric steering mechanism for automatic navigation system was designed. The electric steering mechanism consists of a DC torque motor, motor driver, encoder and steering mechanism. The automatic navigation control system was developed, which is made up of an embedded computer and navigation sensors. The angle sensor fixing device was also designed and tested. In order to advance control precision of the automated guided agricultural vehicle, a variable structure control method based on genetic algorithm (GA) was proposed. A two-wheeled vehicle kinematical analysis model was established. Using the kinematical model, a switch function for variable structure controller is designed by back-stepping approach. Parameters, which were determined previously in the conventional reaching law, were adaptively by GA. Theoretic analysis and experiment results proved the validity of this method.

分类号： S-532

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