农机使用与维修Issue(11)：53-56,4.DOI:10.14031/j.cnki.njwx.2025.11.012
自适应控制在无人驾驶农机中的跟踪试验研究
Adaptive Control in Tracking Test Research of Unmanned Agricultural Machinery
李芮宁1
作者信息
- 1. 陕西科技大学镐京学院,陕西 西安 710000
- 折叠
摘要
Abstract
To improve the positioning accuracy and reliability of unmanned agricultural machinery,this paper proposes an improved method(MFAPP)based on model-free adaptive control by adopting a combined approach of simulation and field tests.Simulation results show that with and without soil noise interference,the jitter performance of the MFAPP control method is significantly better than that of the other four methods,with smaller tracking errors and a marked im-provement in robustness.Field experiments indicate that in straight-line operation and headland turning,the maximum tracking error of MFAPP control does not exceed 0.159 m,and the root mean square error(RMSE)is as low as 0.022 m.It features high tracking accuracy,meets the path requirements of high-precision field operations,and has strong a-daptability.This study aims to provide a feasible solution for high-precision path tracking of unmanned agricultural ma-chinery in complex environments.关键词
无人驾驶农机/路径跟踪/自适应控制/无模型控制Key words
unmanned agricultural machinery/path tracking/adaptive control/no model control分类
农业科技引用本文复制引用
李芮宁..自适应控制在无人驾驶农机中的跟踪试验研究[J].农机使用与维修,2025,(11):53-56,4.
