Optimizing the Performance of a Wheeled Mobile Robot for Use in Agriculture DOI Creative Commons
Sairoel Amertet, Girma Gebresenbet,

Hassan M. Alwan

et al.

IntechOpen eBooks, Journal Year: 2024, Volume and Issue: unknown

Published: Nov. 29, 2024

Utilizing wheeled mobile robot systems may be essential to solving some of agriculture’s upcoming problems. The present state necessitates the development an adequate controller algorithm due their instability, which calls for a control mechanism enhance stability. As such, much study is needed address this issue. Currently, proportional, integral, derivative (PID) controllers are widely employed purpose; however, because parameter variations or disturbances, PID approach often not acceptable. Some problems with can solved alternative strategies, such as linear-quadratic regulator (LQR) control. For work, four-wheel skid-steering robot’s kinematic model was created in order evaluate performance LQR Three scenarios—only non-zero expensive; expensive, cheap; and cheap, expensive—were analyzed using capabilities robot. Based on these circumstances, peak time, settling rising time cheap were determined 0.1, 7.82, 4.39 s, respectively.

Language: Английский

Design and Test of Adaptive Leveling System for Orchard Operation Platform DOI Creative Commons
Jinjun Guo,

Zemin Lu,

Bingbo Cui

et al.

Sensors, Journal Year: 2025, Volume and Issue: 25(5), P. 1319 - 1319

Published: Feb. 21, 2025

When the orchard operation platform is in use within orchard, issues of tilting and overturning can arise due to uneven ground, necessitating instant leveling. In this study, simplified into a four-point leveling mechanism, an adaptive system based on inertial measurement unit (IMU) designed. The relationship between coordinate transformation utilized derive tilt angle position error electric actuator, allowing for analysis adjustment factors mechanism. Through co-simulation using MATLAB ADAMS, fuzzy control implemented addition PID control, resulting improved performance. A prototype model produced tested, with platform’s attitude remaining stable range ±1.5°. average time found be 3.6 s. mean values dynamic inclination under are 2.6° 1.6°, respectively, corresponding standard deviations 1.4° 0.8°. It conforms development trend agricultural machinery electrification intelligence provides reference basis manufacturers.

Language: Английский

Citations

0
Collision Avoidance for Wheeled Mobile Robots in Smart Agricultural Systems Using Control Barrier Function Quadratic Programming DOI Creative Commons
Sairoel Amertet, Girma Gebresenbet

Applied Sciences, Journal Year: 2025, Volume and Issue: 15(5), P. 2450 - 2450

Published: Feb. 25, 2025

The primary challenge is to design feedback controls that enable robots autonomously reach predetermined destinations while avoiding collisions with obstacles and other robots. Various control algorithms, such as the barrier function-based quadratic programming (CBF-QP) controller, address collision avoidance problems. Control functions (CBFs) ensure forward invariance, which critical for guaranteeing safety in robotic within agricultural fields. goal of this study enhance mitigation potential smart agriculture systems. entire system was simulated MATLAB/Simulink environment, results demonstrated a 93% improvement steady-state error over rapidly exploring random tree (RRT). These findings indicate proposed controller highly effective

Language: Английский

Citations

0
A Dynamic Inverse Decoupling Control Method for Reducing Energy Consumption in a Quadcopter UAV DOI Creative Commons
Guoxin Ma, Kang Tian, Hongbo Sun

et al.

Automation, Journal Year: 2025, Volume and Issue: 6(2), P. 19 - 19

Published: May 4, 2025

The energy consumption of rotary-wing unmanned aerial vehicles has become an important factor restricting their long-term application. This article focuses on decoupling the motion channel and reducing control consumption, proposes a controller based dynamic inversion for complete dynamics quadcopter vehicles. Firstly, we design direct closed-loop feedback z-channel to exhibit second-order linear characteristics with adjustable parameters. Then, specific functions pitch angle yaw are combined as virtual variables comprehensive x-direction y-direction, so that x-channel y-channel also independent parameter-adjustable characteristics. Next, by solving actual variables, fast convergence system is dynamically formed deviation between values, ensuring function combination quickly converges expected value. Finally, effectiveness low scheme were demonstrated through simulation comparison other methods (such classical PID) in terms consumption.

Language: Английский

Citations

0
Interval type-2 fuzzy PID cascade control of quadrotor based on non-dominated sorting genetic algorithm-II DOI
Halit UFACIK, Ö. Fatih Keçecioğlu

The Aeronautical Journal, Journal Year: 2025, Volume and Issue: unknown, P. 1 - 36

Published: May 5, 2025

Abstract It is known that interval type-2 fuzzy logic controllers (IT2FLC) with footprint of uncertainty (FOU) in terms membership function (MF) have been developed as an effective control method to ensure systems where uncertainties and nonlinear situations are high, such quadrotor control, the subject many studies. Designing optimising parameters IT2FLC complex time-consuming. To overcome this situation, optimisation based on NSGA-II (Non-dominated Sorting Genetic Algorithm) was applied. ITAE (Integral Time Absolute Error) chosen performance criterion. IT2FLC-NSGA-PID NSGA-PID were compared it observed controller gave better results. As a result, superiority proposed over other overshoot ratio, faster settling time, lower steady state error robust system response against disturbances systems.

Language: Английский

Citations

0
Application of extreme machine learning for smart agricultural robots to reduce manoeuvering adaptability errors DOI Creative Commons
Majed Abdullah Alrowaily, Omar Alruwaili, Mansoor Alghamdi

et al.

Alexandria Engineering Journal, Journal Year: 2024, Volume and Issue: 109, P. 655 - 668

Published: Sept. 28, 2024

Language: Английский

Citations

2
Unmanned Agricultural Machine Operation System in Farmland Based on Improved Fuzzy Adaptive Priority-Driven Control Algorithm DOI Open Access

Yinchao Che,

Guang Zheng,

Yong Bo Li

et al.

Electronics, Journal Year: 2024, Volume and Issue: 13(20), P. 4141 - 4141

Published: Oct. 21, 2024

Autonomous driving technology for agricultural machinery can maximise crop yield, reduce labour costs, and alleviate intensity. In response to the current low degree of automation tracking accuracy paths in equipment, this research proposes an unmanned operating system based on improved fuzzy adaptive PD control algorithm. Firstly, mechanical kinematic models algorithms are introduced achieve autonomous driving, parameter settings speed adjustments made while considering errors. Secondly, operation system, taking a certain rice machine as example, perception information, trajectory design, dynamic control, supervision, remote design carried out. The experimental results show that algorithm exhibits smaller deviation path tracking, with average error between actual expected less than 0.001 m. different testing scenarios, compared results, maximum platform straight sections is 2.8 m, which more stable. More 95% lateral road within 0.11 And distance proposed method curved segments relatively small, far other comparative algorithms. study significantly improve efficiency work, promote development intelligent modern machinery, provide reference value important contributions social economic well progress promotion related technologies.

Language: Английский

Citations

1
Future of sustainable farming: exploring opportunities and overcoming barriers in drone-IoT integration DOI Creative Commons

Sunawar Khan,

Tehseen Mazhar, Tariq Shahzad

et al.

Discover Sustainability, Journal Year: 2024, Volume and Issue: 5(1)

Published: Dec. 18, 2024

Language: Английский

Citations

1
Refinement of Control Strategies for Wheel-Fan Systems in High-Speed Air-Floating Vehicles Operating in Atmospheric Pressure Pipelines DOI Creative Commons
Kun Zhang, Bin Jiao, Ye Bian

et al.

Aerospace, Journal Year: 2024, Volume and Issue: 11(12), P. 974 - 974

Published: Nov. 26, 2024

This study explored the optimization of control systems for atmospheric pipeline air-floating vehicles traveling at ground level by introducing a novel composite wheel-fan system that integrates both wheels and fans. To evaluate impedance, simulates road conditions like inclines, uneven surfaces, obstacles using fixed, random, high torque settings. The hub motor wheel fan is managed through three distinct algorithms: PID, fuzzy backpropagation neural network (BP). Each algorithm’s strategy outlined, tracking experiments were conducted across straight, circular, curved trajectories. Analysis these supports hybrid approach: initiating with employing PID algorithm on straight paths, utilizing BP sinusoidal circular paths. adaptive capacity suggests its potential to eventually supplant in path scenarios over extended testing operation, ensuring improved performance.

Language: Английский

Citations

0
Optimizing the Performance of a Wheeled Mobile Robot for Use in Agriculture DOI Creative Commons
Sairoel Amertet, Girma Gebresenbet,

Hassan M. Alwan

et al.

IntechOpen eBooks, Journal Year: 2024, Volume and Issue: unknown

Published: Nov. 29, 2024

Utilizing wheeled mobile robot systems may be essential to solving some of agriculture’s upcoming problems. The present state necessitates the development an adequate controller algorithm due their instability, which calls for a control mechanism enhance stability. As such, much study is needed address this issue. Currently, proportional, integral, derivative (PID) controllers are widely employed purpose; however, because parameter variations or disturbances, PID approach often not acceptable. Some problems with can solved alternative strategies, such as linear-quadratic regulator (LQR) control. For work, four-wheel skid-steering robot’s kinematic model was created in order evaluate performance LQR Three scenarios—only non-zero expensive; expensive, cheap; and cheap, expensive—were analyzed using capabilities robot. Based on these circumstances, peak time, settling rising time cheap were determined 0.1, 7.82, 4.39 s, respectively.

Language: Английский

Citations

0