There are two main issues to consider when designing a controller for autonomous off-road vehicles: velocity and terrain irregularities. Whereas the first one is measurable, the second one is very difficult to determine. Solutions to cover these issues could be very complex and difficult to implement in an embedded system with limited resources. The results obtained in our previous research for an adaptive approach implemented in a tractor with varying hitch forces, lead to the improvements presented here. This paper proposes a robust digital RST pole placement controller design for the lateral position, with sensitivity functions tuned to cover uncertainties and non-linearities not considered in the model. Simulations were implemented to assess the performance of the system and the controller implementation was applied to a skid-steered agricultural robot with limited computational resources and a state-of-the-art navigation system, which delivered satisfactory results.

Este es el manuscrito aceptado del artículo. La versión registrada fue publicada por primera vez en Computers and Electronics in Agriculture (2018), 153, pp. 94–101, está disponible en línea en el sitio web del editor: https://doi.org/10.1016/j.compag.2018.07.038. This is the accepted manuscript of the article. The registered version was first published in Computers and Electronics in Agriculture (2018), 153, pp. 94–101, and is available online from the publisher's website: https://doi.org/10.1016/j.compag.2018.07.038.

versión final