Path Tracking Control of Four-wheel Independent Driving High Ground Clearance Sprayer Considering Rollover

Abstract

In this research, the path tracking control and the anti-roll control are constructed based on the kinematic model of the sprayer, respectively. The upper layer uses model predictive control (MPC) to output the desired steering angle and speed of the sprayer based on the current state of the sprayer and the desired path to achieve path tracking control. The lower layer controller uses lateral load transfer rate (LTR) as a measure of rollover to judge whether the vehicle state produces rollover, and compensates for steering angle by introducing a fuzzy controller, which in turn controls the LTR to stabilize at a certain threshold value. So that the sprayer has both better control accuracy and better safety in the process of path tracking, and ensure that the sprayer does not roll. The combined simulation results of ADAMS/MATLAB show that the LTR can be controlled within 0.5 when the sprayer adopts anti-roll control under complex road conditions, which ensures the safety of the sprayer, and the lateral deviation reaches 0.13m, which has a high path tracking accuracy.