Networked control system for the guidance of a four-wheel steering agricultural robotic platform (Q446457): Difference between revisions
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Property / author: Eduardo Paciência Godoy / rank | |||
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Property / author: Eduardo Paciência Godoy / rank | |||
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Summary: A current trend in the agricultural area is the development of mobile robots and autonomous vehicles for Precision Agriculture (PA). One of the major challenges in the design of these robots is the development of the electronic architecture for the control of the devices. In a joint project among research institutions and a private company in Brazil, a multifunctional robotic platform for information acquisition in PA is designed. This platform has as main characteristics four-wheel propulsion and independent steering, adjustable width, span of 1,80 m in height, diesel engine, hydraulic system, and a CAN-based Networked Control System (NCS). This paper presents a NCS solution for the platform guidance by the four-wheel hydraulic steering distributed control. The control strategy, centered on the robot manipulators control theory, is based on the difference between the desired and actual position and considering the angular speed of the wheels. The results demonstrate that the NCS is simple and efficient, providing suitable steering performance for the platform guidance. Even though the simplicity of the NCS solution developed, it also overcomes some verified control challenges in the robot guidance system design such as the hydraulic system delay, nonlinearities in the steering actuators, and inertia in the steering system due the friction of different terrains. | |||
Property / review text: Summary: A current trend in the agricultural area is the development of mobile robots and autonomous vehicles for Precision Agriculture (PA). One of the major challenges in the design of these robots is the development of the electronic architecture for the control of the devices. In a joint project among research institutions and a private company in Brazil, a multifunctional robotic platform for information acquisition in PA is designed. This platform has as main characteristics four-wheel propulsion and independent steering, adjustable width, span of 1,80 m in height, diesel engine, hydraulic system, and a CAN-based Networked Control System (NCS). This paper presents a NCS solution for the platform guidance by the four-wheel hydraulic steering distributed control. The control strategy, centered on the robot manipulators control theory, is based on the difference between the desired and actual position and considering the angular speed of the wheels. The results demonstrate that the NCS is simple and efficient, providing suitable steering performance for the platform guidance. Even though the simplicity of the NCS solution developed, it also overcomes some verified control challenges in the robot guidance system design such as the hydraulic system delay, nonlinearities in the steering actuators, and inertia in the steering system due the friction of different terrains. / rank | |||
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Property / Mathematics Subject Classification ID: 93C85 / rank | |||
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Property / Mathematics Subject Classification ID | |||
Property / Mathematics Subject Classification ID: 93C95 / rank | |||
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Property / Mathematics Subject Classification ID: 93C10 / rank | |||
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Property / zbMATH DE Number: 6078151 / rank | |||
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mobile robots | |||
Property / zbMATH Keywords: mobile robots / rank | |||
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autonomous vehicles | |||
Property / zbMATH Keywords: autonomous vehicles / rank | |||
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precision agriculture (PA) | |||
Property / zbMATH Keywords: precision agriculture (PA) / rank | |||
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multifunctional robotic platform | |||
Property / zbMATH Keywords: multifunctional robotic platform / rank | |||
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networked control system (NCS) | |||
Property / zbMATH Keywords: networked control system (NCS) / rank | |||
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nonlinearities | |||
Property / zbMATH Keywords: nonlinearities / rank | |||
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Property / Wikidata QID | |||
Property / Wikidata QID: Q58907953 / rank | |||
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Property / MaRDI profile type | |||
Property / MaRDI profile type: MaRDI publication profile / rank | |||
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Property / full work available at URL | |||
Property / full work available at URL: https://doi.org/10.1155/2012/368503 / rank | |||
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Property / OpenAlex ID | |||
Property / OpenAlex ID: W2041047701 / rank | |||
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Property / cites work | |||
Property / cites work: Output Feedback Stabilization of Networked Control Systems With Random Delays Modeled by Markov Chains / rank | |||
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Property / cites work: Robust FIR equalization for time-varying communication channels with intermittent observations via an LMI approach / rank | |||
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Property / cites work: Robust weighted H∞ filtering for networked systems with intermittent measurements of multiple sensors / rank | |||
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Property / cites work: Robust ℋ︁<sub>∞</sub> PID control for multivariable networked control systems with disturbance/noise attenuation / rank | |||
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Property / cites work: Fuzzy identification of systems and its applications to modeling and control / rank | |||
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links / mardi / name | links / mardi / name | ||
Latest revision as of 16:16, 5 July 2024
scientific article
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English | Networked control system for the guidance of a four-wheel steering agricultural robotic platform |
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Networked control system for the guidance of a four-wheel steering agricultural robotic platform (English)
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6 September 2012
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Summary: A current trend in the agricultural area is the development of mobile robots and autonomous vehicles for Precision Agriculture (PA). One of the major challenges in the design of these robots is the development of the electronic architecture for the control of the devices. In a joint project among research institutions and a private company in Brazil, a multifunctional robotic platform for information acquisition in PA is designed. This platform has as main characteristics four-wheel propulsion and independent steering, adjustable width, span of 1,80 m in height, diesel engine, hydraulic system, and a CAN-based Networked Control System (NCS). This paper presents a NCS solution for the platform guidance by the four-wheel hydraulic steering distributed control. The control strategy, centered on the robot manipulators control theory, is based on the difference between the desired and actual position and considering the angular speed of the wheels. The results demonstrate that the NCS is simple and efficient, providing suitable steering performance for the platform guidance. Even though the simplicity of the NCS solution developed, it also overcomes some verified control challenges in the robot guidance system design such as the hydraulic system delay, nonlinearities in the steering actuators, and inertia in the steering system due the friction of different terrains.
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mobile robots
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autonomous vehicles
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precision agriculture (PA)
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multifunctional robotic platform
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networked control system (NCS)
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nonlinearities
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