This article presents a sliding mode control method for path-tracking of unmanned agricultural vehicles (UAV) in unstructured environments. Before the path-tracking errors converge, a prescribed performance control (PPC) protocol is proposed to ensure that the preview errors are kept within predefined boundaries. By combining sliding mode feedback control and PPC, a modified path-tracking controller is then designed to ensure path-tracking control accuracy. Finally, a high-fidelity vehicle model is established for comparative simulations, which verify the superiority of the designed path-tracking controller.


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    Titel :

    Sliding Mode Control for Path-Tracking of Unmanned Agricultural Vehicles with Prescribed Performance


    Beteiligte:
    Dai, Benjian (Autor:in) / Ding, Shihong (Autor:in) / Sun, Jinlin (Autor:in) / Liu, Lu (Autor:in) / Jia, Ruting (Autor:in) / Yang, Wenhao (Autor:in)


    Erscheinungsdatum :

    07.06.2024


    Format / Umfang :

    1444355 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch






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