带有人机共驾领导者的多农机容错协同编队控制

楚向坪; 陈广登; 王欣; 陈行政; 李鸿一

doi:10.16383/j.aas.c260111

带有人机共驾领导者的多农机容错协同编队控制

doi: 10.16383/j.aas.c260111 cstr: 32138.14.j.aas.c260111

楚向坪^1,,
陈广登^1,,
王欣^{1, 2,},
陈行政^3,,
李鸿一^1,

1.
西南大学电子信息工程学院重庆 400715
2.
西南大学西南山地智能农机装备创新支撑中心重庆 400715
3.
西南大学工程技术学院重庆 400715

基金项目: 国家自然科学基金(U25A20474, 62433018, 62276214, U24B20158, 62403396), 中央高校基本科研业务费专项资金(SWU-KF25032)资助

详细信息

作者简介:
楚向坪：西南大学电子信息工程学院硕士研究生. 2023年获得重庆师范大学电子信息科学与技术专业学士学位. 主要研究方向为协同控制. E-mail: chuxiangping2024@163.com

陈广登：西南大学电子信息工程学院助理研究员. 2024年获得广东工业大学控制科学与工程专业博士学位. 主要研究方向为状态估计, 安全控制和协同控制. 本文通信作者. E-mail: cgdswu2024@swu.edu.cn

王欣：西南大学电子信息工程学院教授. 主要研究方向为智能控制, 强化学习, 优化算法. E-mail: xinwangswu@163.com

陈行政：西南大学工程技术学院副教授. 主要研究方向为智能农业机械装备及应用. E-mail: chenxzh@swu.edu.cn

李鸿一：西南大学电子信息工程学院教授. 主要研究方向为智能控制, 协同控制及其应用. E-mail: lihongyi2009@swu.edu.cn

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出版历程
- 收稿日期: 2026-02-06
- 录用日期: 2026-06-02
- 网络出版日期: 2026-07-01

Fault-Tolerant Cooperative Formation Control for Multiple Agricultural Machines With a Human-Machine Co-driving Leader

1.
College of Electronic and Information Engineering, Southwest University, Chongqing 400715
2.
Southwest Mountain Regions Intelligent Agricultural Machinery Equipment Innovation Center, Southwest University, Chongqing 400715
3.
College of Engineering and Technology, Southwest University, Chongqing 400715

Funds: Supported by National Natural Science Foundation of China (U25A20474, 62433018, 62276214, U24B20158, 62403396) and Fundamental Research Founds for the Central Universities (SWU-KF25032)

More Information

Author Bio:
CHU Xiang-Ping　Master student at the College of Electronic and Information Engineering, Southwest University. He received his bachelor degree in electronic information science and technology from Chongqing Normal University in 2023. His main research interest is cooperative control

CHEN Guang-Deng　Assistant research fellow at the College of Electronic and Information Engineering, Southwest University. He received his PH.D. degree in control science and engineering from Guangdong University of Technology in 2024. His research interests include state estimation, safety control and cooperative control. Corresponding author of this paper

WANG Xin　Professor at the College of Electronic and Information Engineering, Southwest University. His research interests include intelligent control, reinforcement learning and optimization algorithms

CHEN Xing-Zheng　Associate professor at the College of Engineering and Technology, Southwest University. His research interests include intelligent agricultural machinery equipment and applications

LI Hong-Yi　Professor at the College of Electronic and Information Engineering, Southwest University. His research interests include intelligent control, cooperative control and their applications

摘要

摘要: 为更好地利用人类经验并遵循人类意愿,提出一种引入人机共驾领导者的多农机容错协同编队控制方法. 首先,建立包含运动学和动力学的农机系统模型,其中领导者控制输入由驾驶员控制和驾驶辅助控制组成. 其次,结合预瞄等行为特征构建驾驶员控制模型,并基于模型预测控制设计领导者驾驶辅助控制系统,设计模糊规则动态调整驾驶员和辅助系统之间的控制权限. 然后,针对人机共驾领导者的控制输入未知的问题,基于对领导者横向速度和转向角的分布式估计,设计一种位置编队线性控制方法. 最后,通过仿真验证该方法的有效性.
- 农机编队 /
- 人机共驾 /
- 容错控制 /
- 模型预测控制 /
- 分布式估计
Abstract: To better utilize human experience and adhere to human intentions, this paper proposes a fault-tolerant cooperative formation control method for multiple agricultural machines that introduces a human-machine co-driving leader. Firstly, an agricultural machine system model incorporating kinematics and dynamics is established, where the leader's control input comprises driver control and driving assistance control. Secondly, a driver control model is constructed by integrating behavioral characteristics, such as preview. Meanwhile, a leader's driving assistance control system is designed based on model predictive control, and fuzzy rules are devised to dynamically adjust the control authority between the driver and the assistance system. Thirdly, to address the problem of unknown control input of the human-machine co-driving leader, a linear position formation control method is designed based on the distributed estimation of the leader's lateral velocity and steering angle. Finally, the effectiveness of the proposed method is verified through simulations.
- Agricultural machines formation /
- human-machine co-driving /
- fault-tolerant control /
- model predictive control /
- distributed estimation

HTML全文

图 1 农机动力学模型

Fig. 1 Agricultural machinery dynamics model

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图 2 模糊规则下领导农机的跟踪效果及合作系数变化

Fig. 2 Tracking effect of leader agricultural machinery and variation of cooperation coefficient under fuzzy rules

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图 3 领导者的控制输入

Fig. 3 The control inputs of leader

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图 4 通信与控制示意图

Fig. 4 Schematic of communication and control

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图 5 编队跟踪性能

Fig. 5 Formation tracking performance

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图 6 横向速度与偏航角跟踪

Fig. 6 Tracking of lateral velocity and yaw angle

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图 7 跟随者控制输入

Fig. 7 The control inputs of followers

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图 8 编队误差

Fig. 8 Formation errors

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