Robust Trajectory Tracking Control of an Autonomous Tractor-Trailer Considering Model Parameter Uncertainties and Disturbances

Robust Trajectory Tracking Control of an Autonomous Tractor-Trailer Considering Model Parameter Uncertainties and Disturbances

This paper discusses the robust trajectory tracking control of an autonomous tractor-trailer in agricultural applications. Firstly, considering the model parameter uncertainties and various disturbances, the kinematic and dynamic models of the autonomous tractor-trailer system are established. Moreo...

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Bibliographic Details
Main Authors: En Lu, Jialin Xue, Tiaotiao Chen, Song Jiang
Format: Article
Language:English
Published: MDPI AG 2023-04-01
Series:Agriculture
Subjects:
tractor-trailer
trajectory tracking
prescribed performance
model predictive control
robust sliding mode control
Online Access:https://www.mdpi.com/2077-0472/13/4/869

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https://www.mdpi.com/2077-0472/13/4/869

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