Tractor steering teleoperation control with fuzzy PID algorithm based on delay time measurement with timestamp

Because of the labor shortage and aging of population in rural areas, and considering of the technological limitations nowadays, the tele-operational driving robot of human-in-loop is developed to help people to drive a tractor without physical attendance. The time delay control is vital for remote control of tractor steering because of the changeable weather condition and communication channel which leads to communication time delay. Firstly, the timestamp method is utilizing to measure the random time delay to transfer the problem of random time delay control to constant time delay control. Then the PM controller suitable for different time delay is study and the fuzzy controller is using to adjust the control parameters dynamically. Finally, design the experiment to evaluate the position tracking performance of the proposed algorithm which shows that the average and maximum position tracking errors are 10cm and 18cm respectively under the random time delay ranged from 0 to 1000 ms. The results indicate that the tractor steering teleoperation control with the fuzzy PID algorithm based on delay time measurement with timestamp has good tracking performance, strong robustness and important application prospects in intelligent agricultural industry.