To improve the accuracy of tractor field operation path tracking control,this study proposes a tractor path tracking control method based on nonlinear integral fast terminal sliding mode.Firstly,a two wheel dynamic model of the tractor was established.Then,combining nonlinear integral sliding mode surface and fast terminal sliding mode approaching law,a tractor path tracking controller was designed.This controller reduces the common chattering and steady-state errors in traditional sliding mode control.The stability of the controller was tested using the Lyapunov criterion.A tractor path tracking simulation model was established using Matlab/Simulink and path tracking simulation experiments were conducted on the method proposed in this paper.The experimental results show that the maximum lateral deviation of tractor curve path tracking is 0.011 m,which meets the accuracy requirements of tractor tracking field operation paths.
Path tracking controlTractorFast terminal sliding modeNonlinear integral
维普
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