سامانه همایش های دانشگاه آزاد اسلامی واحد نجف آباد

صفحه اصلی / International Conference on Artificial Intelligence; City, Industry and Health

Intelligent Tracking of a Combine Harvester by an Autonomous Tractor-Trailer in Crop Harvesting Operations

نویسندگان :

Khoshnam Shojaei¹

1- Digital Processing and Machine Vision Research Center, Najafabad Branch, Islamic Azad University, Najafabad, Iran

کلمات کلیدی :

Adaptive control،combine harvester،multi-layer neural networks،tractor-trailer

چکیده :

This paper proposes a tracking controller for an autonomous tractor-trailer robot to maintain its desired distance and heading angle with respect to a combine harvester subjected to model uncertainties in agriculture applications. An error transformation is heuristically used to transform the Cartesian errors between both vehicles to relative distance and orientation. Then, an adaptive neural network-based proportional-integral-derivative (PID) controller is proposed to ensure that relative errors converge to the zero vicinity. The model uncertainties including unknown parameters and external disturbances are compensated by an efficient mixture of a multi-layer neural network and an adaptive robust control law. Finally, the computer simulation results are presented to demonstrate the effectiveness of the proposed controller.

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بیشتر

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