Sliding Parameters Calculation of Agricultural Tracked Robot Based on UKF and SMO

Authors

Jiao Jun, College of Information and Computer, Anhui Agricultural University, Hefei 230036, China;
Kong Wen, College of Information and Computer, Anhui Agricultural University, Hefei 230036, China;
Lichuan Gu, College of Information and Computer, Anhui Agricultural University, Hefei 230036, China;
Wang Qiang, College of Information and Computer, Anhui Agricultural University, Hefei 230036, China;
Ya Gao, College of Information and Computer, Anhui Agricultural University, Hefei 230036, China;
Chenchen Yuan, College of Information and Computer, Anhui Agricultural University, Hefei 230036, China;

Abstract

Abstract: In order to make ensure an Agricultural Tracked Robot (ATR) stable driving in farmland and reduce the slip phenomenon parameters, a novel sliding parameters estimation scheme of ATR based on UKF (Unscented Kalman Filter) and SMO (Sliding Mode Observer) was proposed. The motion equation and measurement equation of ATR were fused by UKF to compensate the measurement error from sensors and to reconstruct the precision pose parameters of ATR. Three slip parameter observers were designed for the sideslip angle, left and right track slip rate, which used the tangent function was used as the switching function to cover chattering effects and realize the slip parameters accurately estimation for the slip parameters. The numerical simulation results show that this method is able to provide reliable and high update rate slip parameters with high update rate, which is taken as the basis for accurate control of ATR.

Recommended Citation

Jun, Jiao; Wen, Kong; Gu, Lichuan; Qiang, Wang; Gao, Ya; and Yuan, Chenchen (2020) "Sliding Parameters Calculation of Agricultural Tracked Robot Based on UKF and SMO," Journal of System Simulation: Vol. 27: Iss. 7, Article 24.
Available at: https://dc-china-simulation.researchcommons.org/journal/vol27/iss7/24

First Page

1577

Revised Date

2015-01-23

DOI Link

https://doi.org/

Last Page

1583

CLC

TP242

Recommended Citation

Jiao Jun, Kong Wen, Gu Lichuan, Wang Qiang, Gao Ya, Yuan Chenchen. Sliding Parameters Calculation of Agricultural Tracked Robot Based on UKF and SMO[J]. Journal of System Simulation, 2015, 27(7): 1577-1583.