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

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.本数据集包含论文《Robust Slip-Ratio Regulation for Agricultural Tractors with Transformer-Enhanced Speed Estimation》（带Transformer（Transformer）增强速度估计的农用拖拉机鲁棒滑移率调节）的配套源代码。其包含两大核心组成部分：一是面向四轮独立驱动拖拉机滑移率调节的边界层自适应超扭曲滑模控制器（boundary-layer adaptive super-twisting sliding-mode controller）的MATLAB实现代码；二是应用于Transformer（Transformer）增强扩展卡尔曼滤波（Transformer-EKF）纵向速度估计器中的基于Transformer的过程噪声缩放模型的Python实现代码。该控制代码实现了四轮驱动转矩计算、自适应增益调节、边界层饱和、基于投影的自适应算法以及转矩约束功能。该Transformer代码定义了网络架构、输入特征配置、基于注意力的特征聚合与过程噪声缩放输出模块。所有源文件分别归类至"Controller_code"与"transformer_ekf_code"两个文件夹中。