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Robust Trajectory Tracking Control of an Autonomous Tractor-Trailer Considering Model Parameter Uncertainties and Disturbances

Author

Listed:
  • En Lu

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

  • Jialin Xue

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

  • Tiaotiao Chen

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

  • Song Jiang

    (School of Mechanical Engineering, Jiangsu University, No. 301 Xuefu Road, Zhenjiang 212013, China)

Abstract

This paper discusses the robust trajectory tracking control of an autonomous tractor-trailer in agricultural applications. Firstly, considering the model parameter uncertainties and various disturbances, the kinematic and dynamic models of the autonomous tractor-trailer system are established. Moreover, the coordinate transformation is adopted to convert the trajectory tracking error into a new unconstrained error state space model. On this basis, the prescribed performance control (PPC) technique is designed to ensure the convergence speed and final tracking control accuracy of the tractor-trailer control system. Then, this paper designs a double closed-loop control structure. The posture control level adopts the model predictive control (MPC) method, and the dynamic level adopts the sliding mode control (SMC) method. At the same time, it is worth mentioning that the nonlinear disturbance observer (NDO) is designed to estimate all kinds of system disturbances and compensate for the tracking control system to improve the system’s robustness. Finally, the proposed control strategy is validated through comparative simulations, demonstrating its effectiveness in achieving robust trajectory tracking of the autonomous tractor-trailer system.

Suggested Citation

  • En Lu & Jialin Xue & Tiaotiao Chen & Song Jiang, 2023. "Robust Trajectory Tracking Control of an Autonomous Tractor-Trailer Considering Model Parameter Uncertainties and Disturbances," Agriculture, MDPI, vol. 13(4), pages 1-17, April.
    • Handle: RePEc:gam:jagris:v:13:y:2023:i:4:p:869-:d:1123932
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    Cited by:

    1. Zhengrong Chen & Ruochen Wang & Renkai Ding & Bin Liu & Wei Liu & Dong Sun & Zhongyang Guo, 2025. "Research Progress and Future Prospects of Brake-by-Wire Technology for New Energy Vehicles," Energies, MDPI, vol. 18(11), pages 1-30, May.
    2. Yayun Shen & Yue Shen & Yafei Zhang & Chenwei Huo & Zhuofan Shen & Wei Su & Hui Liu, 2025. "Research Progress on Path Planning and Tracking Control Methods for Orchard Mobile Robots in Complex Scenarios," Agriculture, MDPI, vol. 15(18), pages 1-40, September.
    3. Hongxuan Wu & Xinzhong Wang & Xuegeng Chen & Yafei Zhang & Yaowen Zhang, 2025. "Review on Key Technologies for Autonomous Navigation in Field Agricultural Machinery," Agriculture, MDPI, vol. 15(12), pages 1-28, June.
    4. Yifei Yang & Yifang Wen & Xiaodong Sun & Renzhong Wang & Ziyin Dong, 2025. "A Review of Green Agriculture and Energy Management Strategies for Hybrid Tractors," Energies, MDPI, vol. 18(13), pages 1-23, June.
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    6. Hengrui Cao & Konghao Xu & Li Zhang & Zhongqiu Liu & Ziyang Wang & Haijun Fu, 2025. "Multi-Plane Virtual Vector-Based Anti-Disturbance Model Predictive Fault-Tolerant Control for Electric Agricultural Equipment Applications," Energies, MDPI, vol. 18(14), pages 1-19, July.
    7. Yi Li & Yongsheng He & Kai Zhang & Siqi Wang & Xinyu Hu & Junnan Chen, 2025. "Design and Performance Evaluation of a Self-Propelled Mugwort Harvester for Hilly and Mountainous Regions," Agriculture, MDPI, vol. 15(1), pages 1-32, January.
    8. Yiyong Jiang & Ruochen Wang & Renkai Ding & Zeyu Sun & Yu Jiang & Wei Liu, 2025. "Research Review of Agricultural Machinery Power Chassis in Hilly and Mountainous Areas," Agriculture, MDPI, vol. 15(11), pages 1-37, May.
    9. Chao Zhang & Xiongwei Xia & Hong Zheng & Hongping Jia, 2025. "Permanent Magnet Synchronous Motor Drive System for Agricultural Equipment: A Review," Agriculture, MDPI, vol. 15(19), pages 1-22, September.
    10. Zixuan Xiang & Yu Miao & Yuting Zhou & Feng Li, 2025. "Design and Optimization of a High-Efficiency Lightweight Permanent Magnet In-Wheel Motor with Torque Performance Improvement," Energies, MDPI, vol. 18(17), pages 1-20, August.
    11. Yu Luo & Dekui Pu & Xiaoli He & Lepeng Song & Simon X. Yang & Weihong Ma & Hanwen Shi, 2025. "Trajectory Tracking Control of an Orchard Robot Based on Improved Integral Sliding Mode Algorithm," Agriculture, MDPI, vol. 15(17), pages 1-33, September.
    12. Phummarin Thavitchasri & Dechrit Maneetham & Padma Nyoman Crisnapati, 2024. "Intelligent Surface Recognition for Autonomous Tractors Using Ensemble Learning with BNO055 IMU Sensor Data," Agriculture, MDPI, vol. 14(9), pages 1-21, September.
    13. Zifeng Pei & Li Zhang & Haijun Fu & Yucheng Wang, 2025. "New Fault-Tolerant Sensorless Control of FPFTPM Motor Based on Hybrid Adaptive Robust Observation for Electric Agricultural Equipment Applications," Energies, MDPI, vol. 18(8), pages 1-22, April.
    14. David Marcos-Andrade & Francisco Beltran-Carbajal & Ivan Rivas-Cambero & Hugo Yañez-Badillo & Antonio Favela-Contreras & Julio C. Rosas-Caro, 2024. "Sliding Mode Speed Control in Synchronous Motors for Agriculture Machinery: A Chattering Suppression Approach," Agriculture, MDPI, vol. 14(5), pages 1-25, May.
    15. Wei Liu & Jinhao Zhou & Tengfei Zhang & Pengcheng Zhang & Mengjiao Yao & Jinhong Li & Zitong Sun & Guoxin Ma & Xinxin Chen & Jianping Hu, 2024. "Key Technologies in Intelligent Seeding Machinery for Cereals: Recent Advances and Future Perspectives," Agriculture, MDPI, vol. 15(1), pages 1-38, December.
    16. Liang, Jun & Gu, Yiran & Wang, Lumin & Wang, Wensa & Pan, Chaofeng & Chen, Long, 2026. "Adaptive robust control for connected autonomous vehicle platoons under dynamic time-delay disturbances," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 682(C).
    17. Liwei Zhu & Weiming Sun & Qian Zhang & En Lu & Jialin Xue & Guohui Sha, 2025. "Tractor Path Tracking Control Method Based on Prescribed Performance and Sliding Mode Control," Agriculture, MDPI, vol. 15(15), pages 1-16, August.
    18. Dagang Lu & Yu Chen & Yan Sun & Wenxuan Wei & Shilin Ji & Hongshuo Ruan & Fengyan Yi & Chunchun Jia & Donghai Hu & Kunpeng Tang & Song Huang & Jing Wang, 2025. "Research Progress in Multi-Domain and Cross-Domain AI Management and Control for Intelligent Electric Vehicles," Energies, MDPI, vol. 18(17), pages 1-52, August.
    19. Dong Sun & Renkai Ding & Rijing Dong, 2025. "A Review of Linear Motor Electromagnetic Energy Regenerative Suspension and Key Technologies," Energies, MDPI, vol. 18(19), pages 1-53, September.
    20. Hamed Etezadi & Sulaymon Eshkabilov, 2024. "A Comprehensive Overview of Control Algorithms, Sensors, Actuators, and Communication Tools of Autonomous All-Terrain Vehicles in Agriculture," Agriculture, MDPI, vol. 14(2), pages 1-42, January.
    21. Quanjie Jiang & Yue Shen & Hui Liu & Zohaib Khan & Hao Sun & Yuxuan Huang, 2025. "A Hybrid Path Planning Algorithm for Orchard Robots Based on an Improved D* Lite Algorithm," Agriculture, MDPI, vol. 15(15), pages 1-25, August.
    22. Qicuan Wang & Hai Shi & Chen Ye & Huawei Zhou, 2025. "Synergizing Metaheuristic Optimization and Model Predictive Control: A Comprehensive Review for Advanced Motor Drives," Energies, MDPI, vol. 18(18), pages 1-35, September.

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