【摘要】：面向聯(lián)合收獲機(jī)群協(xié)同導(dǎo)航作業(yè)需求,提出一種基于領(lǐng)航-跟隨結(jié)構(gòu)的收獲機(jī)群協(xié)同導(dǎo)航控制方法。該方法在建立收獲機(jī)群運(yùn)動學(xué)模型的基礎(chǔ)上,結(jié)合反饋線性化及滑�？刂评碚撛O(shè)計(jì)了漸進(jìn)穩(wěn)定的路徑跟蹤控制律和隊(duì)形保持控制律。為驗(yàn)證所提模型及方法的有效性,以4臺收獲機(jī)組成的收獲機(jī)群為試驗(yàn)平臺,進(jìn)行了機(jī)群協(xié)同導(dǎo)航控制試驗(yàn)。當(dāng)速度為1.0 m/s時(shí),領(lǐng)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(jī)的導(dǎo)航控制精度相近,驗(yàn)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