Finite-time path tracking control of agricultural tractors subject to input saturation
For the problem of the path tracking control of agricultural tractors,the path tracking control strategies are proposed based on finite-time and saturation techniques.First of all,a path tracking kinematic model of agricultural machinery is established,and the finite-time path-tracking control method is constructed using the finite-time control technique.Then,by considering the physical limitations of steering systems for agricultural tractors,the composite path tracking control method is constructed by combining the saturation method with the finite-time controller.The rigorous theoretical analysis is given to verify the finite-time stability of closed-loop system under this proposed controller.Finally,simulation results show that the presented method can ensure that agricultural tractor quickly and stably completes the path tracking target.
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