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<p>This paper presents the modeling, design, and real-time implementation of a nonlinear Sliding Mode Controller for a differential-drive agricultural robot equipped with a precision irrigation mechanism. The robot’s dynamic model is derived considering both mechanical and electrical coupling of DC motors under bounded parameter uncertainty. The proposed controller is formulated to ensure stable velocity and position tracking despite actuator nonlinearities, sensor noise, and environmental disturbances. After parameter identification, the uncertain gain and dynamic coefficients are analytically bounded, leading to a robust control law validated through MATLAB/Simulink simulations and real experimental tests. Comparative results for constant and variable speed inputs (ω = 65&#xa0;rad/s, 90&#xa0;rad/s, and ω = 50 + 3t rad/s) demonstrate rapid convergence (&lt; 1&#xa0;s), minimal steady-state error (&lt; 2%), and strong robustness against ± 80% variations in system parameters. The controller achieves smooth voltage regulation and accurate trajectory tracking within ± 0.1&#xa0;m Cartesian error, outperforming conventional linear schemes and confirming its suitability for autonomous precision agricultural navigation.</p>

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Fabrication and trajectory tracking control of an irrigation robot with differential drive mechanism

  • 期刊论文

  • 发表日期：

    2026年5月23日

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  • Junfeng Bai,
  • Ziyan Chen

摘要

This paper presents the modeling, design, and real-time implementation of a nonlinear Sliding Mode Controller for a differential-drive agricultural robot equipped with a precision irrigation mechanism. The robot’s dynamic model is derived considering both mechanical and electrical coupling of DC motors under bounded parameter uncertainty. The proposed controller is formulated to ensure stable velocity and position tracking despite actuator nonlinearities, sensor noise, and environmental disturbances. After parameter identification, the uncertain gain and dynamic coefficients are analytically bounded, leading to a robust control law validated through MATLAB/Simulink simulations and real experimental tests. Comparative results for constant and variable speed inputs (ω = 65 rad/s, 90 rad/s, and ω = 50 + 3t rad/s) demonstrate rapid convergence (< 1 s), minimal steady-state error (< 2%), and strong robustness against ± 80% variations in system parameters. The controller achieves smooth voltage regulation and accurate trajectory tracking within ± 0.1 m Cartesian error, outperforming conventional linear schemes and confirming its suitability for autonomous precision agricultural navigation.