Analysis of Unmanned Tractor Tracking Control Method Based on Robust Model Prediction
Driverless tractor is a kind of agricultural machinery and equipment that uses automation technology and sensor equipment for autonomous navigation.It can complete farmland tillage,planting,fertilization,weeding and other opera-tions without being operated.Driverless tractor field motion control is the key technology for the communication between the whole tractor and the automatic driving system.In this study,based on the given form path of unmanned tractor field operation,the research objective of tracking the trajectory of unmanned tractor in the field is achieved by constructing the unmanned tractor motion model and linearizing it,and using model predictive control to control the tractor field operation trajectory.The research results show that the tractor tracking controller based on robust model prediction can improve the tractor field operation control accuracy,and the tractor linear operation control error<0.03 m.
unmanned tractortrajectory trackingrobust model predictionagricultural robot
国家科技期刊平台
NSTL
万方数据
