A New Approach for Addressing Slip Ratio Optimization and Trajectory Tracking Challenges in Autonomous Tractor Operations

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2024

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Aydin, Gulsah Demirhan
Aydemir, Ali Bahadir
Kansou, Mohamad Thaer
Altinuc, Kemal Orcun
Aydemir, Ali Bahadır

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Mechatronics Engineering
(2002)
The Atılım University Department of Mechatronics Engineering started its operation in 2002 as the Education Program in Mechatronics Engineering holding a “department” status in Turkey. In addition, it is the first and the only institution for mechatronic engineering education to obtain a MÜDEK (Association for Evaluation and Accreditation of Engineering Programs) accreditation for a duration of 5 years. Mechatronics engineering is a discipline of engineering that combines mechanical, electrical and electronic engineering and software technologies on a machine or a product. These features place the field on a pedestal in today’s industry. The education at our department is also backed by substantial laboratory opportunities. Our students create interesting products of their skills and creativity for their dissertation projects. Should they wish to do so, our students may also proceed with a double-major program in the fields of Computer Engineering, Electrical - Electronics Engineering, Industrial Engineering, or Mechanical, Automotive or Software Engineering. Upon their demands, the Department of Mechatronic Engineering also offers a “Cooperative Education” program implemented in coordination with industrial institutions. Students receiving a portion of their training at industrial institutions and prepare for professional life under this program

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Abstract

The usage of autonomous agricultural machines is increasing. In this study, two controllers have been designed for trajectory following and longitudinal tire slip ratio control of a rear-wheel independent traction electric autonomous tractor. The first controller is model predictive control (MPC) and the second controller is proportional integral derivative (PID) based. To evaluate the performance of the controllers in the simulation environment, a mathematical tractor model is prepared. Simulations have been made and performances of the designed controllers are shared.

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Autonomous Electric Tractor, Trajectory Following, Model Predictive Control, Tire Longitudinal Slip Ratio Control

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32nd IEEE Signal Processing and Communications Applications Conference (SIU) -- MAY 15-18, 2024 -- Tarsus Univ Campus, Mersin, TURKEY

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https://doi.org/10.1109/SIU61531.2024.10600918

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