Hybrid Fuzzy PID Controller for Intelligent Tractor Steering Control

Hybrid Fuzzy PID Controller for Intelligent Tractor Steering Control

© 2022 by IJETT Journal
Volume-70 Issue-12
Year of Publication : 2022
Author : Somdavee Bhosinak, Dechrit Maneetham, Tenzin Rabgyal
DOI : 10.14445/22315381/IJETT-V70I12P235

How to Cite?

Somdavee Bhosinak, Dechrit Maneetham, Tenzin Rabgyal, "Hybrid Fuzzy PID Controller for Intelligent Tractor Steering Control," International Journal of Engineering Trends and Technology, vol. 70, no. 12, pp. 359-369, 2022. Crossref, https://doi.org/10.14445/22315381/IJETT-V70I12P235

This article proposes an automatic Fuzzy PID hybrid steering control algorithm for a four-wheel tractor steering system. The proposed PID control mimics a tractor's manual steering movement characteristics, while a fuzzy logic algorithm is combined to optimize the autopilot parameter setting the PID value. The fuzzy inference engine is built on a rule base, so optimization of the fuzzy rule base is achieved by using a few parameters. The simulation results show that this algorithm can intelligently follow the given reference value and produce a small overshoot value with good resistance. As validation, this hybrid algorithm was tested using a four-wheel tractor with rear-wheel drive. The field test results show that the hybrid Fuzzy PID algorithm can well control the steering on autopilot.

Hybrid control, Fuzzy, Pid, Steering control, Intelligent tractor.

[1] Idris IdrisSunusi et al., "Intelligent Tractors: Review of Online Traction Control Process," Computers and Electronics in Agriculture, vol. 170, 2020. Crossref, https://doi.org/10.1016/j.compag.2019.105176
[2] Witcha Upaphai, Pracha Bunyawanichakul, and Maunsak Janthong, "Trajectory Tracking Control Design for an Autonomous Tractor Using Fuzzy PID Controller," International Journal of Agricultural Technology, vol. 13, no. 4, pp. 501–519, 2017.
[3] Nattaphol Nasathit, Mohd Azli Bin Salim, and Chonlatee Photong, "Design and Development of an Electric Tractor Using Simple Remote Control,” Engineering Access, vol. 8, no. 1, 2022. Crossref, https://doi.org/10.14456/mijet.2022.16
[4] Junnan Yin et al., "Automatic Steering Control Algorithm Based on Compound Fuzzy PID for Rice Transplanter," Applied Sciences (Switzerland), vol. 9, no. 13, pp. 2-14, 2019. Crossref, https://doi.org/10.3390/app9132666
[5] Minghui Yu et al., "Trajectory Planning and Tracking for Carrier Aircraft-Tractor System Based on Autonomous and Cooperative Movement," Mathematical Problems in Engineering, vol. 2020, pp. 1-24, 2020. Crossref, https://doi.org/10.1155/2020/6531984
[6] Hajer Omrane, Mohamed Slim Masmoudi, and Mohamed Masmoudi, "Fuzzy Logic Based Control for Autonomous Mobile Robot Navigation," Computational Intelligence and Neuroscience, vol. 2016, p. 9548482, 2016. Crossref, https://doi.org/10.1155/2016/9548482
[7] Do Khac Tiep et al., "Design of Fuzzy-PID Controller for Path Tracking of Mobile Robot With Differential Drive," International Journal of Fuzzy Logic and Intelligent Systems, vol. 18, no. 3, pp. 220–228, 2018. Crossref, http://dx.doi.org/10.5391/IJFIS.2018.18.3.220
[8] Bruno Siciliano et al., Robotics Modelling, Planning and Control, Advanced Textbooks in Control and Signal Processing, Springer, 2009.
[9] A. P. Okunev et al., "Digital Modeling and Testing of Tractor Characteristics," Russian Engineering Research, vol. 39, no. 6, pp. 453–458, 2019. Crossref, http://dx.doi.org/10.3103/S1068798X19060157
[10] Daniel Antal, and Tamás Szabó, "Controlling and Modeling of an Automated Guided Vehicle," Proceedings of the 2012 13th International Carpathian Control Conference : ICCC, pp. 1–6, 2012. Crossref, https://doi.org/10.1109/CarpathianCC.2012.6228606
[11] Xianbo Xiang et al., "Survey on Fuzzy-Logic-Based Guidance and Control of Marine Surface Vehicles and Underwater Vehicles," International Journal of Fuzzy Systems, vol. 20, no. 2, pp. 572–586, 2018. Crossref, https://doi.org/10.1007/s40815-017-0401-3
[12] Ngangbam HerojitSingh, and KhelchandraThongam, "Mobile Robot Navigation Using Fuzzy Logic in Static Environments," Procedia Computer Science, vol. 125, pp. 11–17, 2018. Crossref, https://doi.org/10.1016/j.procs.2017.12.004
[13] Oscar Castillo, and Patricia Melin, "A Review on Interval Type-2 Fuzzy Logic Applications in Intelligent Control," Information Sciences, vol. 279, pp. 615–631, 2014. Crossref, https://doi.org/10.1016/j.ins.2014.04.015
[14] Mohamed Esmail Karar, Ahmed Hamdy El-Garawany, and Mohamed El-Brawany, "Optimal Adaptive Intuitionistic Fuzzy Logic Control of Anti-Cancer Drug Delivery Systems," Biomedical Signal Processing and Control, vol. 58, p. 101861, 2020. Crossref, https://doi.org/10.1016/j.bspc.2020.101861
[15] P. X. Thuy, and N. T. Cuong, "Vision Based Autonomous Path/Line Following of a Mobile Robot Using a Hybrid Fuzzy PID Controller," Collection of the 3rd National Science Project on Control & Automation of VCCA, 2016. Crossref, https://doi.org/10.15625/vap.2015.0012
[16] H. Jiangqiang, L. Tieshan, and G. Chen, "Design of GA-Based Fuzzy Control for Ship Steering," Proceedings of the World Congress on Intelligent Control and Automation (WCICA), vol. 1, pp. 3594–3598, 2006. Crossref, https://doi.org/10.1109/WCICA.2006.17130395
[17] Ya Lei Sun, and Meng Joo Er, "Hybrid Fuzzy Control of Robotics Systems," IEEE Transactions on Fuzzy Systems, vol. 12, no. 6, pp. 755–765, 2004. Crossref, https://doi.org/10.1109/TFUZZ.2004.836097
[18] Kaushik Das Sharma, Amitava Chatterjee, and Anjan Rakshit, "Harmony Search-Based Hybrid Stable Adaptive Fuzzy Tracking Controllers for Vision-Based Mobile Robot Navigation," Machine Vision and Applications, vol. 25, no. 2, pp. 405–419, 2014. Crossref, https://doi.org/10.1007/s00138-013-0515-z
[19] Khaled Salhi, and Adel M. Alimi, "Fuzzy-PID Hybrid Controller for Mobile Robot Using Point Cloud and Low-Cost Depth Sensor," 2013 International Conference on Individual and Collective Behaviors in Robotics - Proceedings of ICBR 2013, pp. 92–97, 2013. Crossref, https://doi.org/10.1109/ICBR.2013.6729280
[20] W. B. Zulfikar et al., "Implementation of Mamdani Fuzzy Method in Employee Promotion System," IOP Conference Series: Materials Science and Engineering, vol. 288, no. 1, 2018. Crossref, https://doi.org/10.1088/1757-899X/288/1/012147
[21] Ganeshsree Selvachandran et al., "A New Design of Mamdani Complex Fuzzy Inference System for Multiattribute Decision Making Problems," IEEE Transactions on Fuzzy Systems, vol. 29, no. 4, pp. 716–730, 2021. Crossref, https://doi.org/10.1109/TFUZZ.2019.2961350
[22] Mohand AkliKacimi et al., "New Mixed-Coding PSO Algorithm for a Self-Adaptive and Automatic Learning of Mamdani Fuzzy Rules," Engineering Applications of Artificial Intelligence, vol. 89, p. 103417, 2020. Crossref, https://doi.org/10.1016/j.engappai.2019.103417
[23] Tugce Yanar, Sultan Kocaman, and Candan Gokceoglu, "Use of Mamdani Fuzzy Algorithm for Multi-Hazard Susceptibility Assessment in a Developing Urban Settlement (Mamak, Ankara, Turkey)," ISPRS International Journal of Geo-Information, vol. 9, no. 2, 2020. Crossref, https://doi.org/10.3390/ijgi9020114
[24] O. Aydogmus, and G. Boztas, "Implementation of Pure Pursuit Algorithm for Nonholonomic Mobile Robot Using Robot Operating System," Balkan Journal of Electrical and Computer Engineering, vol. 9, no. 4, pp. 337–341, 2021. Crossref, https://doi.org/10.17694/bajece.983350
[25] G. C. Rains et al., "Evaluation of a Simple Pure Pursuit Path-Following Algorithm for an Autonomous, Articulated-Steer Vehicle," Applied Engineering in Agriculture, vol. 30, no. 3, pp. 367–374, 2014. Crossref, https://doi.org/10.13031/Aea.30.10347
[26] YangYang et al., “An Optimal Goal Point Determination Algorithm for Automatic Navigation of Agricultural Machinery: Improving the Tracking Accuracy of the Pure Pursuit Algorithm," Computers and Electronics in Agriculture, vol. 194, p. 106760, 2022. Crossref, https://doi.org/10.1016/j.compag.2022.106760
[27] Junaiz C et al., "Ultimate Dual Drive Control," SSRG International Journal of Mechanical Engineering, vol. 4, no. 5, pp. 34-42, 2017. Crossref, https://doi.org/10.14445/23488360/IJME-V4I5P110