农业机械学报2026，Vol.57Issue(16)：30-39,10.DOI:10.6041/j.issn.1000-1298.2026.16.003
基于横/航向误差的模型预测农机导航轨迹跟踪控制研究
Lateral/Yaw Error Based Model Prediction of Agricultural Machinery Navigation Trajectory Tracking Control
摘要
Abstract
With the rapid development of agricultural intelligence and precision,agricultural machinery navigation path tracking technology has become the core link to improve operational efficiency and resource utilization.A model predictive control(MPC)method based on lateral and yaw error was proposed to improve the accuracy and adaptability of agricultural machinery navigation track tracking.A low-dimensional lateral error tracking model was constructed based on the kinematic model,and considering actual application,the delay state equation was also added,and based on the model,linearization and discretization were carried out in the state space,the prediction model was derived,and it was converted into a quadratic optimization model for solving.The simulation experiments showed that this algorithm maintained high-precision tracking performance in cases such as speed changes,different initial conditions of lateral errors,and sudden changes in path curvature,and the system maintained high-precision tracking performance.The algorithm was deployed into the actual system,and the above working conditions were verified respectively.The experiments showed that the lateral error of the algorithm was maintained within±0.02 m,and the heading error was within±0.5° in the statistical sense of 2σ,which solved the problem of the traditional MPC controller's tracking performance degradation caused by time-varying soil conditions.The research result can provide theoretical support for high-precision autonomous navigation of agricultural machinery,which was significant for promoting the development of unmanned farm technology.关键词
农机/导航/跟踪控制/横/航向误差模型/模型预测控制Key words
agricultural machinery/navigation/tracking control/lateral/yaw error model/model prediction control分类
矿业与冶金引用本文复制引用
张泮虹,储成高,李德芳,孙德明,王辉,翟成..基于横/航向误差的模型预测农机导航轨迹跟踪控制研究[J].农业机械学报,2026,57(16):30-39,10.基金项目
国家重点研发计划和山东省重点研发计划联合资助项目(2021YFB3901300) （2021YFB3901300）
