农机使用与维修Issue(9)：40-43,4.DOI:10.14031/j.cnki.njwx.2026.09.009
无人农机路径跟踪控制系统设计及试验验证
Design and experimental verification of an autonomous agricultural machinery path tracking control system
魏学良1
作者信息
- 1. 山西铁道职业技术学院,山西太原 030013
- 折叠
摘要
Abstract
To address the path-following control issue of autonomous agricultural vehicles in complex field operating en-vironments,a tracking control system based on the line-of-sight guidance method and sliding mode control is proposed through simulation and experimental studies.By introducing an improved line-of-sight guidance algorithm,a sliding mode yaw controller integrating fuzzy logic systems and input saturation compensation is designed,combined with an ex-tended state observer and an adaptive terminal sliding mode disturbance observer.Finally,field vehicle tests demon-strate that the system maintains lateral tracking errors within±0.05 m in both dry and muddy field conditions,exhibi-ting robust performance and practical engineering applicability.All research findings collectively offer a viable technical solution for high-precision path tracking of unmanned agricultural machinery.关键词
无人农机/路径跟踪/视线导引/滑模控制Key words
autonomous agricultural machinery/path tracking/line-of-sight guidance/sliding mode control分类
农业科技引用本文复制引用
魏学良..无人农机路径跟踪控制系统设计及试验验证[J].农机使用与维修,2026,(9):40-43,4.
