Stability Control of the Agricultural Tractor-Trailer System in Saline Alkali Land: A Collaborative Trajectory Planning Approach
The design and industrial innovation of intelligent agricultural machinery and equipment for saline alkali land are important means for comprehensive management and capacity improvement of saline alkali land. The autonomous and unmanned agricultural tractor is the inevitable trend of the development...
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MDPI AG
2025-01-01
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| author | Guannan Lei Shilong Zhou Penghui Zhang Fei Xie Zihang Gao Li Shuang Yanyun Xue Enjie Fan Zhenbo Xin |
| author_facet | Guannan Lei Shilong Zhou Penghui Zhang Fei Xie Zihang Gao Li Shuang Yanyun Xue Enjie Fan Zhenbo Xin |
| author_sort | Guannan Lei |
| collection | DOAJ |
| description | The design and industrial innovation of intelligent agricultural machinery and equipment for saline alkali land are important means for comprehensive management and capacity improvement of saline alkali land. The autonomous and unmanned agricultural tractor is the inevitable trend of the development of intelligent machinery and equipment in saline alkali land. As an underactuated system with non-holonomic constraints, the independent trajectory planning and lateral stability control of the tractor-trailer system (TTS) face challenges in saline alkali land. In this study, based on the nonlinear underactuation characteristics of the TTS and the law of passive trailer steering, a dual-trajectory collaborative control model was designed. By solving the TTS kinematic/dynamic state space, a nonlinear leading system that can generate the reference pose of a tractor-trailer was constructed. Based on the intrinsic property of the lateral deviation of the TTS, a collaborative trajectory prediction algorithm that satisfies the time domain and system constraints is proposed. Combining the dual-trajectory independent offset and lateral stability parameter of the TTS, an energy function optimization control parameter was constructed to balance the system trajectory tracking performance and lateral control stability. The experimental results showed good agreement between the predicted trailer trajectory and the collaborative control trajectory, with an average lateral error not exceeding 0.1 m and an average course angle error not exceeding 0.054 rad. This ensures that the dynamic controller designed around the tractor-trailer underactuation system can guarantee the smoothness of the trailer trajectory and the controlling stability of the tractor in saline alkali land. |
| format | Article |
| id | doaj-art-7492e7ba3a4e400482486d5fbbda3979 |
| institution | Kabale University |
| issn | 2077-0472 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Agriculture |
| spelling | doaj-art-7492e7ba3a4e400482486d5fbbda39792025-01-10T13:13:42ZengMDPI AGAgriculture2077-04722025-01-0115110010.3390/agriculture15010100Stability Control of the Agricultural Tractor-Trailer System in Saline Alkali Land: A Collaborative Trajectory Planning ApproachGuannan Lei0Shilong Zhou1Penghui Zhang2Fei Xie3Zihang Gao4Li Shuang5Yanyun Xue6Enjie Fan7Zhenbo Xin8School of Mechanical Engineering, North University of China, Taiyuan 030051, ChinaState Key Laboratory of Crop Biology, College of Agronomy, Shandong Agricultural University, Tai’an 271018, ChinaSchool of Mechanical Engineering, North University of China, Taiyuan 030051, ChinaShanxian Huxi Institutes of Industrial Technology, Heze 274300, ChinaSchool of Mechanical Engineering, North University of China, Taiyuan 030051, ChinaSchool of Mechanical Engineering, North University of China, Taiyuan 030051, ChinaChongqing Chang’an Wangjiang Industry Group Co., Ltd., Chongqing 401120, ChinaChongqing Chang’an Wangjiang Industry Group Co., Ltd., Chongqing 401120, ChinaState Key Laboratory of Crop Biology, College of Agronomy, Shandong Agricultural University, Tai’an 271018, ChinaThe design and industrial innovation of intelligent agricultural machinery and equipment for saline alkali land are important means for comprehensive management and capacity improvement of saline alkali land. The autonomous and unmanned agricultural tractor is the inevitable trend of the development of intelligent machinery and equipment in saline alkali land. As an underactuated system with non-holonomic constraints, the independent trajectory planning and lateral stability control of the tractor-trailer system (TTS) face challenges in saline alkali land. In this study, based on the nonlinear underactuation characteristics of the TTS and the law of passive trailer steering, a dual-trajectory collaborative control model was designed. By solving the TTS kinematic/dynamic state space, a nonlinear leading system that can generate the reference pose of a tractor-trailer was constructed. Based on the intrinsic property of the lateral deviation of the TTS, a collaborative trajectory prediction algorithm that satisfies the time domain and system constraints is proposed. Combining the dual-trajectory independent offset and lateral stability parameter of the TTS, an energy function optimization control parameter was constructed to balance the system trajectory tracking performance and lateral control stability. The experimental results showed good agreement between the predicted trailer trajectory and the collaborative control trajectory, with an average lateral error not exceeding 0.1 m and an average course angle error not exceeding 0.054 rad. This ensures that the dynamic controller designed around the tractor-trailer underactuation system can guarantee the smoothness of the trailer trajectory and the controlling stability of the tractor in saline alkali land.https://www.mdpi.com/2077-0472/15/1/100dual-trajectory collaborative planningintelligent agricultural machinerylateral stability controlsaline alkali landtractor-trailer system |
| spellingShingle | Guannan Lei Shilong Zhou Penghui Zhang Fei Xie Zihang Gao Li Shuang Yanyun Xue Enjie Fan Zhenbo Xin Stability Control of the Agricultural Tractor-Trailer System in Saline Alkali Land: A Collaborative Trajectory Planning Approach Agriculture dual-trajectory collaborative planning intelligent agricultural machinery lateral stability control saline alkali land tractor-trailer system |
| title | Stability Control of the Agricultural Tractor-Trailer System in Saline Alkali Land: A Collaborative Trajectory Planning Approach |
| title_full | Stability Control of the Agricultural Tractor-Trailer System in Saline Alkali Land: A Collaborative Trajectory Planning Approach |
| title_fullStr | Stability Control of the Agricultural Tractor-Trailer System in Saline Alkali Land: A Collaborative Trajectory Planning Approach |
| title_full_unstemmed | Stability Control of the Agricultural Tractor-Trailer System in Saline Alkali Land: A Collaborative Trajectory Planning Approach |
| title_short | Stability Control of the Agricultural Tractor-Trailer System in Saline Alkali Land: A Collaborative Trajectory Planning Approach |
| title_sort | stability control of the agricultural tractor trailer system in saline alkali land a collaborative trajectory planning approach |
| topic | dual-trajectory collaborative planning intelligent agricultural machinery lateral stability control saline alkali land tractor-trailer system |
| url | https://www.mdpi.com/2077-0472/15/1/100 |
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