Robust digital control for autonomous skid-steered agricultural robots

There are two main issues to consider when designing a controller for autonomous off-road vehicles: velocity and terrain irregularities. Whereas the first one is measurable, the second one is very difficult to determine. Solutions to cover these issues could be very complex and difficult to implemen...

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Detalhes bibliográficos
Autores: Fernández, Benjamín, Herrera Caro, Pedro Javier, Cerrada Somolinos, José Antonio
Formato: artículo
Fecha de publicación:2018
País:España
Recursos:Universidad Nacional de Educación a Distancia
Repositorio:e-spacio. Repositorio Institucional de la UNED
Idioma:inglés
OAI Identifier:oai:e-spacio.uned.es:20.500.14468/29820
Acesso em linha:https://hdl.handle.net/20.500.14468/29820
Access Level:acceso abierto
Palavra-chave:1203.17 Informática
Skid-steered robot
Robust digital control
Guidance control
RST-controller
Digital pole placement
Autonomous off-road vehicles
Agricultural robotics
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spelling Robust digital control for autonomous skid-steered agricultural robotsFernández, BenjamínHerrera Caro, Pedro JavierCerrada Somolinos, José Antonio1203.17 InformáticaSkid-steered robotRobust digital controlGuidance controlRST-controllerDigital pole placementAutonomous off-road vehiclesAgricultural roboticsThere are two main issues to consider when designing a controller for autonomous off-road vehicles: velocity and terrain irregularities. Whereas the first one is measurable, the second one is very difficult to determine. Solutions to cover these issues could be very complex and difficult to implement in an embedded system with limited resources. The results obtained in our previous research for an adaptive approach implemented in a tractor with varying hitch forces, lead to the improvements presented here. This paper proposes a robust digital RST pole placement controller design for the lateral position, with sensitivity functions tuned to cover uncertainties and non-linearities not considered in the model. Simulations were implemented to assess the performance of the system and the controller implementation was applied to a skid-steered agricultural robot with limited computational resources and a state-of-the-art navigation system, which delivered satisfactory results.Elseviere-Spacio UNED20252025-08-0420182018-10-0120182018-10-01journal articlehttp://purl.org/coar/resource_type/c_6501info:eu-repo/semantics/articleapplication/pdfhttps://hdl.handle.net/20.500.14468/29820reponame:e-spacio. Repositorio Institucional de la UNEDinstname:Universidad Nacional de Educación a DistanciaInglésengopen accesshttp://purl.org/coar/access_right/c_abf2info:eu-repo/semantics/openAccesshttp://creativecommons.org/licenses/by-nc-nd/4.0/deed.esoai:e-spacio.uned.es:20.500.14468/298202026-06-06T12:38:31Z
dc.title.none.fl_str_mv Robust digital control for autonomous skid-steered agricultural robots
title Robust digital control for autonomous skid-steered agricultural robots
spellingShingle Robust digital control for autonomous skid-steered agricultural robots
Fernández, Benjamín
1203.17 Informática
Skid-steered robot
Robust digital control
Guidance control
RST-controller
Digital pole placement
Autonomous off-road vehicles
Agricultural robotics
title_short Robust digital control for autonomous skid-steered agricultural robots
title_full Robust digital control for autonomous skid-steered agricultural robots
title_fullStr Robust digital control for autonomous skid-steered agricultural robots
title_full_unstemmed Robust digital control for autonomous skid-steered agricultural robots
title_sort Robust digital control for autonomous skid-steered agricultural robots
dc.creator.none.fl_str_mv Fernández, Benjamín
Herrera Caro, Pedro Javier
Cerrada Somolinos, José Antonio
author Fernández, Benjamín
author_facet Fernández, Benjamín
Herrera Caro, Pedro Javier
Cerrada Somolinos, José Antonio
author_role author
author2 Herrera Caro, Pedro Javier
Cerrada Somolinos, José Antonio
author2_role author
author
dc.contributor.none.fl_str_mv e-Spacio UNED
dc.subject.none.fl_str_mv 1203.17 Informática
Skid-steered robot
Robust digital control
Guidance control
RST-controller
Digital pole placement
Autonomous off-road vehicles
Agricultural robotics
topic 1203.17 Informática
Skid-steered robot
Robust digital control
Guidance control
RST-controller
Digital pole placement
Autonomous off-road vehicles
Agricultural robotics
description There are two main issues to consider when designing a controller for autonomous off-road vehicles: velocity and terrain irregularities. Whereas the first one is measurable, the second one is very difficult to determine. Solutions to cover these issues could be very complex and difficult to implement in an embedded system with limited resources. The results obtained in our previous research for an adaptive approach implemented in a tractor with varying hitch forces, lead to the improvements presented here. This paper proposes a robust digital RST pole placement controller design for the lateral position, with sensitivity functions tuned to cover uncertainties and non-linearities not considered in the model. Simulations were implemented to assess the performance of the system and the controller implementation was applied to a skid-steered agricultural robot with limited computational resources and a state-of-the-art navigation system, which delivered satisfactory results.
publishDate 2018
dc.date.none.fl_str_mv 2018
2018-10-01
2018
2018-10-01
2025
2025-08-04
dc.type.none.fl_str_mv journal article
http://purl.org/coar/resource_type/c_6501
dc.type.openaire.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv https://hdl.handle.net/20.500.14468/29820
url https://hdl.handle.net/20.500.14468/29820
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
info:eu-repo/semantics/openAccess
http://creativecommons.org/licenses/by-nc-nd/4.0/deed.es
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
http://creativecommons.org/licenses/by-nc-nd/4.0/deed.es
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv Elsevier
publisher.none.fl_str_mv Elsevier
dc.source.none.fl_str_mv reponame:e-spacio. Repositorio Institucional de la UNED
instname:Universidad Nacional de Educación a Distancia
instname_str Universidad Nacional de Educación a Distancia
reponame_str e-spacio. Repositorio Institucional de la UNED
collection e-spacio. Repositorio Institucional de la UNED
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15.812429

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