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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    Title :

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


    Contributors:
    Dai, Benjian (author) / Ding, Shihong (author) / Sun, Jinlin (author) / Liu, Lu (author) / Jia, Ruting (author) / Yang, Wenhao (author)


    Publication date :

    2024-06-07


    Size :

    1444355 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English






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