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基于迭代学习的农业车辆路径跟踪控制

卜旭辉 侯忠生 余发山 付子义

卜旭辉, 侯忠生, 余发山, 付子义. 基于迭代学习的农业车辆路径跟踪控制. 自动化学报, 2014, 40(2): 368-372. doi: 10.3724/SP.J.1004.2014.00368
引用本文: 卜旭辉, 侯忠生, 余发山, 付子义. 基于迭代学习的农业车辆路径跟踪控制. 自动化学报, 2014, 40(2): 368-372. doi: 10.3724/SP.J.1004.2014.00368
BU Xu-Hui, HOU Zhong-Sheng, YU Fa-Shan, FU Zi-Yi. Iterative Learning Control for Trajectory Tracking of Farm Vehicles. ACTA AUTOMATICA SINICA, 2014, 40(2): 368-372. doi: 10.3724/SP.J.1004.2014.00368
Citation: BU Xu-Hui, HOU Zhong-Sheng, YU Fa-Shan, FU Zi-Yi. Iterative Learning Control for Trajectory Tracking of Farm Vehicles. ACTA AUTOMATICA SINICA, 2014, 40(2): 368-372. doi: 10.3724/SP.J.1004.2014.00368

基于迭代学习的农业车辆路径跟踪控制

doi: 10.3724/SP.J.1004.2014.00368
基金项目: 

国家自然科学基金(61203065,61120106009);河南省高等学校控制工程重点学科开放实验室项目(KG2011-10);河南理工大学青年骨干教师计划项目资助

Iterative Learning Control for Trajectory Tracking of Farm Vehicles

Funds: 

Supported by National Natural Science Foundation of China (61203065, 61120106009), the Program of Open Laboratory Foundation of Control Engineering Key Discipline of Henan Provincial High Education (KG 2011-10), and the Program of Key Young Teacher of Henan Polytechnic University

  • 摘要: 由于农作物的播种、收获、除草和农药化肥喷洒具有周期性的特点,农业车辆在执行农田作业时具有较强的重复性. 基于迭代学习控制(Iterative learning control,ILC)方法研究农业车辆的路径跟踪问题,建立了农业车辆的两轮移动机器人运动学模型,设计了车辆路径跟踪的迭代学习控制算法,并基于压缩 映射方法理论上证明了算法的收敛性. 研究表明,迭代学习控制可有效利用农业车辆运行的重复信息,实现车辆期望路径有限区间内的高精度完全跟踪控制. 仿真示例验证了本文方法的有效性.
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出版历程
  • 收稿日期:  2012-10-08
  • 修回日期:  2013-06-17
  • 刊出日期:  2014-02-20

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