基于领航-跟随结构的联合收获机群协同导航控制方法
发布时间：2019-06-13 06:44
【摘要】：面向联合收获机群协同导航作业需求,提出一种基于领航-跟随结构的收获机群协同导航控制方法。该方法在建立收获机群运动学模型的基础上,结合反馈线性化及滑模控制理论设计了渐进稳定的路径跟踪控制律和队形保持控制律。为验证所提模型及方法的有效性,以4台收获机组成的收获机群为试验平台,进行了机群协同导航控制试验。当速度为1.0 m/s时,领航者的平均跟踪误差为5.81 cm,跟随者的平均跟踪误差为5.93 cm,与单台收获机的导航控制精度相近,验证了所提方法的可行性和有效性。
[Abstract]:In order to meet the requirements of cooperative navigation operation of joint harvester group, a cooperative navigation control method of harvester group based on pilot-follow structure is proposed. Based on the kinematic model of harvester group, the asymptotically stable path tracking control law and formation maintenance control law are designed by combining feedback linearization and sliding mode control theory. In order to verify the effectiveness of the proposed model and method, the cluster collaborative navigation control test was carried out on the harvester group composed of four harvester sets. When the velocity is 1.0 m 鈮，
本文编号：2498323
[Abstract]:In order to meet the requirements of cooperative navigation operation of joint harvester group, a cooperative navigation control method of harvester group based on pilot-follow structure is proposed. Based on the kinematic model of harvester group, the asymptotically stable path tracking control law and formation maintenance control law are designed by combining feedback linearization and sliding mode control theory. In order to verify the effectiveness of the proposed model and method, the cluster collaborative navigation control test was carried out on the harvester group composed of four harvester sets. When the velocity is 1.0 m 鈮，
本文编号：2498323
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