【摘要】：面向聯(lián)合收獲機群協(xié)同導航作業(yè)需求,提出一種基于領航-跟隨結構的收獲機群協(xié)同導航控制方法。該方法在建立收獲機群運動學模型的基礎上,結合反饋線性化及滑模控制理論設計了漸進穩(wěn)定的路徑跟蹤控制律和隊形保持控制律。為驗證所提模型及方法的有效性,以4臺收獲機組成的收獲機群為試驗平臺,進行了機群協(xié)同導航控制試驗。當速度為1.0 m/s時,領航者的平均跟蹤誤差為5.81 cm,跟隨者的平均跟蹤誤差為5.93 cm,與單臺收獲機的導航控制精度相近,驗證了所提方法的可行性和有效性。
[Abstract]:In order to meet the requirements of cooperative navigation operation of joint harvester group, a cooperative navigation control method of harvester group based on pilot-follow structure is proposed. Based on the kinematic model of harvester group, the asymptotically stable path tracking control law and formation maintenance control law are designed by combining feedback linearization and sliding mode control theory. In order to verify the effectiveness of the proposed model and method, the cluster collaborative navigation control test was carried out on the harvester group composed of four harvester sets. When the velocity is 1.0 m 鈮，

本文編號：2498323