NDLI: Towards Agrobots: Trajectory Control of an Autonomous Tractor Using Type-2 Fuzzy Logic Controllers

Content Provider	IEEE Xplore Digital Library
Author	Kayacan, E. Kayacan, E. Ramon, H. Kaynak, O. Saeys, W.
Copyright Year	1996
Abstract	Provision of some autonomous functions to an agricultural vehicle would lighten the job of the operator but in doing so, the accuracy should not be lost to still obtain an optimal yield. Autonomous navigation of an agricultural vehicle involves the control of different dynamic subsystems, such as the yaw angle dynamics and the longitudinal speed dynamics. In this study, a proportional-integral-derivative controller is used to control the longitudinal velocity of the tractor. For the control of the yaw angle dynamics, a proportional-derivative controller works in parallel with a type-2 fuzzy neural network. In such an arrangement, the former ensures the stability of the related subsystem, while the latter learns the system dynamics and becomes the leading controller. In this way, instead of modeling the interactions between the subsystems prior to the design of a model-based control, we develop a control algorithm which learns the interactions online from the measured feedback error. In addition to the control of the stated subsystems, a kinematic controller is needed to correct the errors in both the x- and the y- axis for the trajectory tracking problem of the tractor. To demonstrate the real-time abilities of the proposed control scheme, an autonomous tractor is equipped with the use of reasonably priced sensors and actuators. Experimental results show the efficacy and the efficiency of the proposed learning algorithm.
Starting Page	287
Ending Page	298
Page Count	12
File Size	1209920
File Format	PDF
ISSN	10834435
Volume Number	20
Issue Number	1
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-01-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Agricultural machinery Trajectory Fuzzy logic Robustness Heuristic algorithms PD control Fuzzy neural networks type-2 fuzzy logic systems Agricultural vehicles autonomous tractor fuzzy–neuro control sliding-mode learning algorithm
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

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