中国科学院沈阳自动化研究所机构知识库
Advanced  
SIA OpenIR  > 信息服务与智能控制技术研究室  > 期刊论文
题名:
A sliding-mode variable-structure controller based on exact feedback linearization for automatic navigation system
作者: Bai XP(白晓平); Hu JT(胡静涛); Gao L(高雷); Zhang T(张天)
作者部门: 信息服务与智能控制技术研究室
通讯作者: 胡静涛
关键词: agricultural machine ; affine nonlinear kinematics model ; exact feedback linearization ; sliding-mode variable-structure controller
刊名: INTERNATIONAL JOURNAL OF AGRICULTURAL AND BIOLOGICAL ENGINEERING
ISSN号: 1934-6344
出版日期: 2016
卷号: 9, 期号:5, 页码:158-165
收录类别: SCI
产权排序: 1
项目资助者: Key Technologies R&D Program of Liaoning Province [Y5L7160701] ; National High-tech R&D Program of China ("863" Program) [2013AA040403]
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.
语种: 英语
WOS记录号: WOS:000386351300018
WOS标题词: Science & Technology ; Life Sciences & Biomedicine
类目[WOS]: Agricultural Engineering
关键词[WOS]: ADAPTIVE STEERING CONTROL ; FARM TRACTOR
研究领域[WOS]: Agriculture
Citation statistics:
内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/19376
Appears in Collections:信息服务与智能控制技术研究室_期刊论文

Files in This Item:
File Name/ File Size Content Type Version Access License
A sliding-mode variable-structure controller based on exact feedback linearization for automatic navigation system.pdf(378KB)期刊论文作者接受稿开放获取View 联系获取全文

Recommended Citation:
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,2016-01-01,9(5):158-165.
Service
Recommend this item
Sava as my favorate item
Show this item's statistics
Export Endnote File
Google Scholar
Similar articles in Google Scholar
[Bai XP(白晓平)]'s Articles
[Hu JT(胡静涛)]'s Articles
[Gao L(高雷)]'s Articles
CSDL cross search
Similar articles in CSDL Cross Search
[Bai XP(白晓平)]‘s Articles
[Hu JT(胡静涛)]‘s Articles
[Gao L(高雷)]‘s Articles
Related Copyright Policies
Null
Social Bookmarking
Add to CiteULike Add to Connotea Add to Del.icio.us Add to Digg Add to Reddit
文件名: A sliding-mode variable-structure controller based on exact feedback linearization for automatic navigation system.pdf
格式: Adobe PDF
所有评论 (0)
暂无评论
 
评注功能仅针对注册用户开放,请您登录
您对该条目有什么异议,请填写以下表单,管理员会尽快联系您。
内 容:
Email:  *
单位:
验证码:   刷新
您在IR的使用过程中有什么好的想法或者建议可以反馈给我们。
标 题:
 *
内 容:
Email:  *
验证码:   刷新

Items in IR are protected by copyright, with all rights reserved, unless otherwise indicated.

 

 

Valid XHTML 1.0!
Copyright © 2007-2017  中国科学院沈阳自动化研究所 - Feedback
Powered by CSpace