Sliding Parameters Calculation of Agricultural Tracked Robot Based on UKF and SMO

Abstract

Abstract: In order to make ensure an Agricultural Tracked Robot (ATR) stable driving in farmland and reduce the slip phenomenon parameters, a novel sliding parameters estimation scheme of ATR based on UKF (Unscented Kalman Filter) and SMO (Sliding Mode Observer) was proposed. The motion equation and measurement equation of ATR were fused by UKF to compensate the measurement error from sensors and to reconstruct the precision pose parameters of ATR. Three slip parameter observers were designed for the sideslip angle, left and right track slip rate, which used the tangent function was used as the switching function to cover chattering effects and realize the slip parameters accurately estimation for the slip parameters. The numerical simulation results show that this method is able to provide reliable and high update rate slip parameters with high update rate, which is taken as the basis for accurate control of ATR.

Key words: ATR (agricultural tracked robot), UKF (unscented kalman filter), SMO (sliding mode observer), Slip parameter

CLC Number:

TP242

Jiao Jun, Kong Wen, Gu Lichuan, Wang Qiang, Gao Ya, Yuan Chenchen. Sliding Parameters Calculation of Agricultural Tracked Robot Based on UKF and SMO[J]. Journal of System Simulation, 2015, 27(7): 1577-1583.

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