Path tracking fusion control algorithm of agricultural machine based on MPC and Stanley
A fusion control algorithm based on Model Predictive Control(MPC)and Stanley control is pro-posed to solve the problem of path tracking of intelligent agricultural machine.Based on the kinematic mod-el of agricultural machine,the path tracking control law is designed using MPC algorithm.On the basis of MPC algorithm,the weight coefficient is fused with Stanley algorithm,and the fuzzy rules are used to dy-namically correct the weight coefficient.The Carsim and Matlab/Simulink co-simulation platforms are built,and the linear path and circular path are tracked at different speeds.The results show that the control per-formance of the proposed algorithm is better than the conventional MPC algorithm,which is faster in the first half of the tracking process and more stable in the second half of the tracking process.The linear path tracking error is less than±2.5cm,which is suitable for large deviation of the initial position of agricultural machine and high driving speed applications.
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