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Observer-based robust cooperative formation tracking control for multiple combine harvesters

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Abstract

The cooperative formation tracking control is a key problem for the cooperative work of multiple agricultural machines on farmland. In view of the problem, this paper proposes an observer-based robust cooperative formation tracking control method, and the cooperative harvesting system of the combine harvester group is chosen to verify the effectiveness of the proposed method. Firstly, a second-order model is used to describe the combine harvester, and both matched and mismatched disturbances are taken into account. The disturbances are then observed using an observer with a cascade structure that combines NDO and ESO. On this basis, the observer-based robust cooperative formation tracking controller is designed based on multiple agent theory and the SMC method. In addition, the APF method is also employed to achieve the goal of preventing collisions among combine harvesters or between the combine harvesters and obstacles during the collaborative harvesting process. The results demonstrate that the observer-based robust tracking control method proposed in this paper can successfully achieve the cooperative formation tracking control of the combine harvester group without a collision. Moreover, the disturbance compensation method reduces the tracking errors of the combine harvester’s working trajectory and increases the robustness of the cooperative formation harvesting system.

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Data Availability

The data that support the findings of this study are available from the corresponding author upon reasonable request.

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Acknowledgements

This work was supported by the National Natural Science Foundation of China (No. 52005220, No. 62001195), the National Key Research and Development Program of China (No. 2022YFD00150402), and A Project Funded by the Priority Academic Program Development of Jiangsu Higher Education Institutions (No. PAPD-2018-87).

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Authors and Affiliations

  1. Key Laboratory for Theory and Technology of Intelligent Agricultural Machinery and Equipment, Jiangsu University, No. 301 Xuefu Road, Zhenjiang, 212013, China

    En Lu, Zhongming Tian, Lizhang Xu & Zheng Ma

  2. School of Agricultural Engineering, Jiangsu University, No. 301 Xuefu Road, Zhenjiang, 212013, China

    En Lu, Zhongming Tian, Lizhang Xu & Zheng Ma

  3. Ocean College, Jiangsu University of Science and Technology, No. 2 Mengxi Road, Zhenjiang, 212003, Jiangsu, China

    Chengming Luo

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  1. En Lu
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Correspondence to En Lu.

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Lu, E., Tian, Z., Xu, L. et al. Observer-based robust cooperative formation tracking control for multiple combine harvesters. Nonlinear Dyn 111, 15109–15125 (2023). https://doi.org/10.1007/s11071-023-08661-x

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