基于自适应扰动观测器的固定时间非奇异终端滑模控制,用于无人驾驶农用拖拉机的路径跟踪

IF 4.4 1区 农林科学 Q1 AGRICULTURAL ENGINEERING
Jinlin Sun , Zhen Wang , Shihong Ding , Jun Xia , Gaoyong Xing
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引用次数: 0

摘要

针对无人驾驶农用拖拉机受未知干扰影响的自动导航问题,利用固定时间非奇异终端滑动模式和自适应干扰观测器技术,提出了一种路径跟踪控制方案。首先,建立了考虑未知干扰的路径跟踪运动学模型。其次,与传统的滑动模态控制器不同,针对无人驾驶农用拖拉机提出了一种新型固定时间终端滑动模态控制器,可有效提高动态性能并减少颤振效应。此外,为了减少未知干扰的不利影响,设计了一种新的自适应干扰观测器来估计和补偿这些未知干扰。随后,进行了严格的 Lyapunov 分析,证实在基于自适应扰动观测器的固定时间非奇异终端滑模控制方案下,无人驾驶农用拖拉机的横向和航向偏移可在固定时间内稳定到原点附近的任意小邻域。最后,通过大量实验验证了所提控制方案的有效性和优势。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Adaptive disturbance observer-based fixed time nonsingular terminal sliding mode control for path-tracking of unmanned agricultural tractors

To address the automatic navigation issue of unmanned agricultural tractors affected by unknown disturbances, a path-tracking control scheme is proposed by utilising fixed-time nonsingular terminal sliding mode and adaptive disturbance observer technique. Firstly, a path-tracking kinematic model is established, which considers the unknown disturbances. Secondly, unlike conventional sliding mode controllers, a novel fixed-time terminal sliding mode controller is proposed for the unmanned agricultural tractor, which effectively enhances the dynamic performance and reduce the chattering effect. Furthermore, to reduce the detrimental effects of unknown disturbances, a new adaptive disturbance observer is designed to estimate and compensate these unknown disturbances. Subsequently, a strict Lyapunov analysis is conducted to confirm that the lateral and heading offsets of the unmanned agricultural tractor under the adaptive disturbance observer-based fixed time nonsingular terminal sliding mode control scheme can be stabilised to the arbitrarily small neighbourhood near the origin within a fixed time. Finally, extensive experiments were carried out to verify the effectiveness and advantages of the proposed control scheme.

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来源期刊
Biosystems Engineering
Biosystems Engineering 农林科学-农业工程
CiteScore
10.60
自引率
7.80%
发文量
239
审稿时长
53 days
期刊介绍: Biosystems Engineering publishes research in engineering and the physical sciences that represent advances in understanding or modelling of the performance of biological systems for sustainable developments in land use and the environment, agriculture and amenity, bioproduction processes and the food chain. The subject matter of the journal reflects the wide range and interdisciplinary nature of research in engineering for biological systems.
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