农机化研究2025，Vol.47Issue(8)：1-9,9.DOI:10.13427/j.issn.1003-188X.2025.08.001
基于动力学建模的农机路径跟踪鲁棒滑模控制算法研究
Robust Sliding Mode Control Method for Path Tracking of Unmanned Agricultural Vehicles Based on Dynamic Modeling
摘要
Abstract
In order to solve the decrease in control accuracy problemscaused by parameter perturbation and unknown dis-turbances of unmanned agricultural vehicles in complex road condition,a lateral dynamics analysis of agricultural wheeled vehicles was conducted and vehicle dynamics model considering forward looking distance was established primarily.Then,a robust sliding mode control method based on boundary conditions of unknown system parameters was designed,whichhad strong robustness against significant perturbation of system parameters,external disturbances,and changes in road envi-ronment during operation.In practical applications,it was unnecessarytoobtain accurate values of unknown or difficult to measure vehicle dynamic parameters.The field test results revealed that in the case of sudden changes in road conditions,thetracking average error absolute value ofslidingmode control method was 0.160 9 m,which was 43.8%higher than the path tracking method of State Feedback Control(SFC).The extreme absolute value of tracking error was 0.365 0 m,which was 13.5%higher than the path tracking method of SFC.When the tractor was operating continuously at the speed of 2.5 m/s,theslidingmode control methodhad a tracking average error absolute value of0.098 0 m,with a maximum de-viation of 0.268 2 cm and a standard deviation of 0.116 3.Compared with the SFC control method,it was improved by 34.80%,29.23%,and 40.27%,respectively,which could meet the actual needs of navigation and operation in complex environments for unmanned agricultural vehicles.关键词
无人农机/路径跟踪/滑模控制/鲁棒性/动力学建模Key words
unmanned agricultural vehicles/path tracking/sliding mode control/robustness/dynamic modeling分类
农业工程引用本文复制引用
葛志康,白晓平,王卓,王枭雄..基于动力学建模的农机路径跟踪鲁棒滑模控制算法研究[J].农机化研究,2025,47(8):1-9,9.基金项目
国家重点研发计划项目(2021YFD2000305) （2021YFD2000305）
