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| dc.contributor.author | Eskeziyaw, Alemneh | |
| dc.date.accessioned | 2022-11-22T08:02:19Z | |
| dc.date.available | 2022-11-22T08:02:19Z | |
| dc.date.issued | 2022-02 | |
| dc.identifier.uri | http://ir.bdu.edu.et/handle/123456789/14505 | |
| dc.description.abstract | Agricultural robotic vehicles have the potential to play a significant role in agriculture today.An agricultural robot is a vehicle designed to automate agriculture. Agriculture is a labor-intensive and time-consuming industry. To improve the performance of this area of robotics, it is vital to develop controller designs that are both cost-effective and easy to use. Agricultural robots, in particular, those engaged in seed sowing and row planting operations, must adhere to a precise aim. Due to navigation errors, seeds may be placed incorrectly in a row. The design of a Model Predictive Controller for an agricultural robot operating in row cultures is the subject of this thesis. Themodel predictive controller has been designedwith a prediction horizon ofN=10 and control horizon of P=30. The controller design was based on the robot’s mathematical model, which included two identical series of DC motor dynamics, chassis dynamics, and kinematics. The effect of a change in seedmass is regarded as a disturbance and is accounted for in themodel.The power source needed for the robot to perform different tasks has been also designed. MATLAB software was used to implement the designed system. The robot’s position, orientation, and control signals are constrained to restrict the forward speed and maximum error of the angle. A model predictive controller is preferable for agricultural robots, especially when operating in the field with path constraints. Key Words: Model Predictive Control, Differential drive robot, Kinematics,Dynamics, Path Constraint, Objective Function | en_US |
| dc.language.iso | en_US | en_US |
| dc.subject | ELECTRICAL AND COMPUTER ENGINEERING | en_US |
| dc.title | MODEL PREDICTIVE CONTROLLER DESIGN FOR SEED SOWING ROW PLANTING AGRICULTURAL ROBOT | en_US |
| dc.type | Thesis | en_US |
