Lyapunov-based Controller Design for Precise Monitoring, Speed Control and Trajectory Planning in Autonomous Tractors with Trailers

Abstract

Nowadays, modern technology-based agriculture operations are replacing traditional farming practices. Smart agricultural systems have gained popularity as a result of the demand for more productive and environmentally friendly farming methods. Consequently, the agricultural sector continues to be one of the driving forces behind automation, viewing technological advancements as a means of increasing productivity while lowering costs. Automation in agriculture ranges from tractors built with apparatus that can carry out complicated tasks on their own to cultivation surveillance. This study aims to optimize the speed of an autonomous tractor through a dynamic code based on Lyapunov control method as an innovative approach in smart agriculture. Beyond speed optimization, the research also addresses practical challenges encountered in real-world scenarios, including obstacles such as living entities. By evaluating the potential of Lyapunov control methodology in the effective management of agricultural machinery, this work offers an innovative perspective on smart agricultural technologies.