Source Code for "Robust Slip-Ratio Regulation for Agricultural Tractors with Transformer-Enhanced Speed Estimation"

Description

This dataset contains the source code used in the article “Robust Slip-Ratio Regulation for Agricultural Tractors with Transformer-Enhanced Speed Estimation.” It includes two main components: the MATLAB implementation of the boundary-layer adaptive super-twisting sliding-mode controller for four-wheel-independent tractor slip-ratio regulation and the Python implementation of the Transformer-based process-noise scaling model used in the Transformer-EKF longitudinal-speed estimator. The control code implements the four-wheel drive-torque calculation, adaptive-gain adjustment, boundary-layer saturation, projection-based adaptation, and torque constraints. The Transformer code defines the network architecture, input feature configuration, attention-based feature aggregation, and process-noise scaling output. The source files are organized into the folders “Controller_code” and “transformer_ekf_code,” respectively.

Institutions

• Henan University of Science and Technology

  Henan, Luoyang

Categories

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