Trajectory tracking control design for an autonomous tractor using fuzzy PID controller

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Published: Jul 20, 2017
Keywords:
Autonomous tractor Dynamic mode PID fuzzy controller Trajectory

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Upaphai, W.
Srinakharinwirot University, Department of Mechanical Engineering, Nakhonnayok, Thailand
Bunyawanichakul, P.
Srinakharinwirot University, Department of Mechanical Engineering, Nakhonnayok, Thailand
Janthong, M.
Rajamangala University of Technology Thanyaburi, Department of Mechanical Engineering, Pathumthani, Thailand

Abstract

The design of a position control system of an autonomous tractor using self-tuning fuzzy PID controller was studied. The design is developed by simulating the tractor movement using the dynamic model of front-wheel steering and rear-wheel driving.  The tractor trajectory in Cartesian coordinate system is also created. The aim of the design was to control a tractor to track a specified path automatically. The design tasks was firstly set up an equation of tractor trajectory and to simulate the tractor movement using MATLAB/ Simulink, and to design the tractor controller using self-tuning fuzzy PID controller.  Finally, the position control system was also designed.  The results of simulation experiment showed that the self-tuning fuzzy PID controller was able to control the tractor to track the desired path. The maximum position error between the path designed and the tractor path was at 1.02 meter.  The comparison with time, the maximum position error was 2.89 meter, because the tractor was slower than the path movement designed.

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How to Cite
Upaphai, W., Bunyawanichakul, P., & Janthong, M. (2017). Trajectory tracking control design for an autonomous tractor using fuzzy PID controller. International Journal of Agricultural Technology, 13(4), 501–519. retrieved from https://li04.tci-thaijo.org/index.php/IJAT/article/view/6759
Issue
Vol. 13 No. 4 (2017): July
Section
Original Study
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This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

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