Straight-Line Path Tracking Control of Agricultural Tractor-Trailer Based on Fuzzy Sliding Mode Control

Abstract

In order to solve the labor shortage problem, unmanned agricultural vehicles have been widely promoted in China. Among these vehicles, unmanned tractor-trailers have garnered the most interest thanks to their flexibility and efficiency. However, trapped by the factors of vehicle parameter uncertainties, unstructured farmland roads, etc., the current unmanned tractor-trailers have shown poor tracking accuracy and longer online times in straight-line path tracking. To overcome the aforementioned issues, a fuzzy sliding mode control (FSMC) approach is proposed in this paper. First, the tractor-trailer path tracking error model was established based on the kinematic model and a reference model. Then, according to the sliding mode control (SMC) theory, the FSMC was designed. Through a Lyapunov theory analysis, the proposed control method can ensure that the articulated angle, the position error, and the heading error all converge to zero. Finally, field tests and Simulink simulations demonstrated the effectiveness and robustness of the suggested control mechanism. According to field experiments, the proposed control method can increase the trailer steady-state tracking accuracy by between 10.5 and 36.8% and the tractor steady-state tracking accuracy by between 11.1 and 50%.

Keywords

• agricultural tractor-trailer
• straight-line path tracking
• sliding mode control
• fuzzy control