Lyapunov-based Controller Design for Precise Monitoring, Speed Control and Trajectory Planning in Autonomous Tractors with Trailers;

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2024

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Institute of Electrical and Electronics Engineers Inc.

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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

Nowadays, modern technology-based agriculture operations are replacing traditional farming practices. Smart agricultural systems have gained popularity as a result of the demand for more productive and environmentally friendly farming methods. Consequently, the agricultural sector continues to be one of the driving forces behind automation, viewing technological advancements as a means of increasing productivity while lowering costs. Automation in agriculture ranges from tractors built with apparatus that can carry out complicated tasks on their own to cultivation surveillance. This study aims to optimize the speed of an autonomous tractor through a dynamic code based on Lyapunov control method as an innovative approach in smart agriculture. Beyond speed optimization, the research also addresses practical challenges encountered in real-world scenarios, including obstacles such as living entities. By evaluating the potential of Lyapunov control methodology in the effective management of agricultural machinery, this work offers an innovative perspective on smart agricultural technologies. © 2024 IEEE.

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Berdan Civata B.C.; et al.; Figes; Koluman; Loodos; Tarsus University

Keywords

autonomous tractor, Lyapunov control, smart agriculture, speed optimization, trajectory planning

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32nd IEEE Conference on Signal Processing and Communications Applications, SIU 2024 - Proceedings -- 32nd IEEE Conference on Signal Processing and Communications Applications, SIU 2024 -- 15 May 2024 through 18 May 2024 -- Mersin -- 201235

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https://doi.org/10.1109/SIU61531.2024.10600765
 https://hdl.handle.net/20.500.14411/7386

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