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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