State Observer-Based Sampled-Data Control for Path Tracking of Autonomous Agricultural Tractor
This study develops a sampled-data controller for the path tracking system of an autonomous agricultural tractor (AAT) on the basis of a state observer. First of all, to solve the cost of the whole system, the state observer is constructed for estimating the heading offset and for accelerating the c...
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| Format: | Article |
| Language: | English |
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MDPI AG
2025-06-01
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| Series: | Actuators |
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| Online Access: | https://www.mdpi.com/2076-0825/14/6/300 |
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| _version_ | 1849472751814836224 |
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| author | Haozhe Li Keqi Mei Li Ma Shihong Ding Chen Ding |
| author_facet | Haozhe Li Keqi Mei Li Ma Shihong Ding Chen Ding |
| author_sort | Haozhe Li |
| collection | DOAJ |
| description | This study develops a sampled-data controller for the path tracking system of an autonomous agricultural tractor (AAT) on the basis of a state observer. First of all, to solve the cost of the whole system, the state observer is constructed for estimating the heading offset and for accelerating the convergence process. Built on the observer, an advanced output feedback sampled-data controller is formulated, which tackles the problem of slow data freshness caused by the low signal frequency of the GPS-RTK system. Subsequently, a Lyapunov stability analysis is conducted to guarantee that the AAT system can be stabilized under the proposed control strategy. Finally, comparative simulation results are provided to illustrate the efficacy of the control strategy. |
| format | Article |
| id | doaj-art-0a405493916149c7a655b47a6b97d563 |
| institution | Kabale University |
| issn | 2076-0825 |
| language | English |
| publishDate | 2025-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj-art-0a405493916149c7a655b47a6b97d5632025-08-20T03:24:26ZengMDPI AGActuators2076-08252025-06-0114630010.3390/act14060300State Observer-Based Sampled-Data Control for Path Tracking of Autonomous Agricultural TractorHaozhe Li0Keqi Mei1Li Ma2Shihong Ding3Chen Ding4School of Electrical and Information Engineering, Jiangsu University, Zhenjiang 212013, ChinaSchool of Electrical and Information Engineering, Jiangsu University, Zhenjiang 212013, ChinaSchool of Electrical and Information Engineering, Jiangsu University, Zhenjiang 212013, ChinaSchool of Electrical and Information Engineering, Jiangsu University, Zhenjiang 212013, ChinaSchool of Computer and Information Engineering, Fuyang Normal University, Fuyang 236037, ChinaThis study develops a sampled-data controller for the path tracking system of an autonomous agricultural tractor (AAT) on the basis of a state observer. First of all, to solve the cost of the whole system, the state observer is constructed for estimating the heading offset and for accelerating the convergence process. Built on the observer, an advanced output feedback sampled-data controller is formulated, which tackles the problem of slow data freshness caused by the low signal frequency of the GPS-RTK system. Subsequently, a Lyapunov stability analysis is conducted to guarantee that the AAT system can be stabilized under the proposed control strategy. Finally, comparative simulation results are provided to illustrate the efficacy of the control strategy.https://www.mdpi.com/2076-0825/14/6/300path trackingsampled-data controlstate observerautonomous agricultural tractors |
| spellingShingle | Haozhe Li Keqi Mei Li Ma Shihong Ding Chen Ding State Observer-Based Sampled-Data Control for Path Tracking of Autonomous Agricultural Tractor Actuators path tracking sampled-data control state observer autonomous agricultural tractors |
| title | State Observer-Based Sampled-Data Control for Path Tracking of Autonomous Agricultural Tractor |
| title_full | State Observer-Based Sampled-Data Control for Path Tracking of Autonomous Agricultural Tractor |
| title_fullStr | State Observer-Based Sampled-Data Control for Path Tracking of Autonomous Agricultural Tractor |
| title_full_unstemmed | State Observer-Based Sampled-Data Control for Path Tracking of Autonomous Agricultural Tractor |
| title_short | State Observer-Based Sampled-Data Control for Path Tracking of Autonomous Agricultural Tractor |
| title_sort | state observer based sampled data control for path tracking of autonomous agricultural tractor |
| topic | path tracking sampled-data control state observer autonomous agricultural tractors |
| url | https://www.mdpi.com/2076-0825/14/6/300 |
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