A Novel Control Method for Unmanned Agricultural Tractors: Composite Back-stepping Sliding Mode Path Tracking

Author:

Ji Xin,Wei Xinhua,Wang Anzhe

Abstract

A composite back-stepping sliding mode controller is explored in the paper to address the under-actuated, input saturated, and time-varying disturbances, as well as model-dependent issues that bother the path tracking control of unmanned agricultural tractors. Specifically, the path tracking error model is introduced. The extended state observers (ESO) with time-varying parameters are employed to handle the lump disturbances resulting from the external disturbances and model nonlinearity. A novel composite path tracking controller is proposed based on back-stepping and active disturbance rejection control and sliding mode control, whose effectiveness is elaborated by simulations and experiments. According to the results, the proposed controller, whose stability is elucidated in the appendix, outperforms the fuzzy pure pursuit control in reducing the lateral offset.

Publisher

Kaunas University of Technology (KTU)

Subject

Electrical and Electronic Engineering,Computer Science Applications,Control and Systems Engineering

同舟云学术

1.学者识别学者识别

2.学术分析学术分析

3.人才评估人才评估

"同舟云学术"是以全球学者为主线,采集、加工和组织学术论文而形成的新型学术文献查询和分析系统,可以对全球学者进行文献检索和人才价值评估。用户可以通过关注某些学科领域的顶尖人物而持续追踪该领域的学科进展和研究前沿。经过近期的数据扩容,当前同舟云学术共收录了国内外主流学术期刊6万余种,收集的期刊论文及会议论文总量共计约1.5亿篇,并以每天添加12000余篇中外论文的速度递增。我们也可以为用户提供个性化、定制化的学者数据。欢迎来电咨询!咨询电话:010-8811{复制后删除}0370

www.globalauthorid.com

TOP

Copyright © 2019-2024 北京同舟云网络信息技术有限公司
京公网安备11010802033243号  京ICP备18003416号-3