Fuzzy adaptive PID control for path tracking of field intelligent weeding machine

Abstract

In order to reduce the influence of external interference on the intelligent weeder, improve the stability of its path tracking system, enhance its weeding effect, and reduce the rate of seedling injury, the motion steering control of the four-wheeled weeder is studied. The control strategy of fuzzy adaptive proportional integral differential (PID) algorithm is determined by establishing the path tracking mathematical model of the field intelligent weeder; the fuzzy adaptive PID controller is designed with the input average steering angle deviation of the front wheels and the rate of change of the deviation so as to realize the automatic adjustment and optimization of the parameters. We use Simulink to build the control system model and to compare and analyze with the PID controller. The results show that under the action of the step signal, the rise time of the fuzzy adaptive PID and PID control system responses is 2.596 and 4.209 s, respectively; under the action of the impulse, the fuzzy adaptive PID has a significant advantage over the traditional PID control system in terms of the rise time and response time. In addition, this control system has a fast response speed, high adaptability, high anti-interference ability, and superior path tracking ability, which are necessary for improving the accuracy of the field intelligent weeder and reducing the rate of seedling injury.