考虑输入饱和的农用拖拉机路径跟踪有限时间控制
Finite-time path tracking control of agricultural tractors subject to input saturation
马莉 1刘国威 1丁世宏 1刘陆 1葛群辉2
作者信息
- 1. 江苏大学电气信息工程学院,江苏镇江 212013
- 2. 德玛克(长兴)注塑系统有限公司,浙江湖州 313100
- 折叠
摘要
针对农用拖拉机的路径跟踪控制问题,提出基于有限时间和饱和技术的路径跟踪控制策略.首先,建立农机路径跟踪运动学模型,并通过有限时间控制技术,构造有限时间路径跟踪控制方法;其次,考虑到农用拖拉机的转向系统物理限制,将饱和技术与有限时间控制结合,给出复合的路径跟踪控制方法,通过严格的理论分析验证闭环系统在该控制器下的有限时间稳定性;最后,通过仿真结果表明,所设计的制导方法可以保证农用拖拉机快速、稳定地完成路径跟踪目标.
Abstract
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.
关键词
农用拖拉机/精准农业/自动导航/路径跟踪/有限时间控制/饱和控制器Key words
agricultural tractors/precision agriculture/automatic pilot/path tracking/finite-time control/saturation controller引用本文复制引用
基金项目
国家自然科学基金(61973142)
省部共建现代农业装备与技术协同创新中心项目(XTCX2015)
出版年
2024
NETL
NSTL
万方数据