Abstract
This study proposes a backstepping control-based attitude control system for cutting devices to improve the performance of Korean cabbage harvesters. If the Korean cabbage is not cut at an optimal cutting position, the quality of the cabbage deteriorates because of head damage. However, attitude control of the harvester body has limitations in maintaining an optimal cutting position. In this study, a mechanism was designed to independently control cutting devices depending on the variety of crops during harvesting. However, the environment of Korean cabbage fields is irregular and nonlinear, making it difficult to predict the gradient changes. Therefore, a backstepping nonlinear control method was used to reduce the load on the hydraulic system caused by the dynamic characteristics of the harvester. A field test was conducted on a Korean cabbage field to validate the proposed controller. A total of 60 heads were harvested for the experiment, and a score was calculated to evaluate the cabbage cutting surface quantitatively. The proposed method yielded a cutting performance of 86.6%. The attitude maintenance performance was validated by measuring the change in attitude during harvesting. The root mean square errors (RMSEs) of the pitch angle and cutting height position were 0.73° and 11.20 mm and the mean absolute errors (MAEs) were 0.53° and 8.97 mm. The results confirmed that the cutting angle and height were maintained within ± 2° and ± 25 mm. The proposed backstepping-based attitude control system enabled accurate harvesting of Korean cabbage, which is expected to improve the harvest success rate.
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Acknowledgements
This research was supported by the Korea Institute of Planning and Evaluation for Technology in Food, Agriculture, and Forestry (IPET) through the Agriculture, Food and Rural Affairs Convergence Technologies Program for Educating Creative Global Leader Program, funded by the Ministry of Agriculture, Food and Rural Affairs (MAFRA) (716001–7).
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Park, Y., Kim, HJ. & Son, H.I. Novel attitude control of Korean cabbage harvester using backstepping control. Precision Agric 24, 744–763 (2023). https://doi.org/10.1007/s11119-022-09973-5
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DOI: https://doi.org/10.1007/s11119-022-09973-5