Tractor Path Tracking Control Method Based on Prescribed Performance and Sliding Mode Control
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| Publicado en: | Agriculture vol. 15, no. 15 (2025), p. 1663-1679 |
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| Autor principal: | |
| Otros Autores: | , , , , |
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MDPI AG
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| Acceso en línea: | Citation/Abstract Full Text + Graphics Full Text - PDF |
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| 035 | |a 3239016017 | ||
| 045 | 2 | |b d20250101 |b d20251231 | |
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| 100 | 1 | |a Zhu, Liwei |u School of Agricultural Engineering, Jiangsu University, No. 301 Xuefu Road, Zhenjiang 212013, China; 2222416070@stmail.ujs.edu.cn (L.Z.); 2112316034@stmail.ujs.edu.cn (W.S.); jsluen@163.com (E.L.); 2222216049@ujs.edu.cn (J.X.) | |
| 245 | 1 | |a Tractor Path Tracking Control Method Based on Prescribed Performance and Sliding Mode Control | |
| 260 | |b MDPI AG |c 2025 | ||
| 513 | |a Journal Article | ||
| 520 | 3 | |a In addressing the challenges of low path tracking accuracy and poor robustness during tractor autonomous operation, this paper proposes a path tracking control method for tractors that integrates prescribed performance with sliding mode control (SMC). A key feature of this control method is its inherent immunity to system parameter perturbations and external disturbances, while ensuring path tracking errors are constrained within a predefined range. First, the tractor is simplified into a two-wheeled vehicle model, and a path tracking error model is established based on the reference operation trajectory. By defining a prescribed performance function, the constrained tracking control problem is transformed into an unconstrained stability control problem, guaranteeing the boundedness of tracking errors. Then, by incorporating SMC theory, a prescribed performance sliding mode path tracking controller is designed to achieve robust path tracking and error constraint for the tractor. Finally, both simulation and field experiments are conducted to validate the method. The results demonstrate that compared with the traditional SMC method, the proposed method effectively mitigates the impact of complex farmland conditions, reducing path tracking errors while enforcing strict error constraints. Field experiment data shows the proposed method achieves an average absolute error of 0.02435 m and a standard deviation of 0.02795 m, confirming its effectiveness and superiority. This research lays a foundation for the intelligent development of agricultural machinery. | |
| 653 | |a Kinematics | ||
| 653 | |a Velocity | ||
| 653 | |a Agricultural equipment | ||
| 653 | |a Accuracy | ||
| 653 | |a Agricultural land | ||
| 653 | |a Field tests | ||
| 653 | |a Control algorithms | ||
| 653 | |a Agricultural production | ||
| 653 | |a Tracking control | ||
| 653 | |a Agricultural technology | ||
| 653 | |a Tractors | ||
| 653 | |a Path tracking | ||
| 653 | |a Design | ||
| 653 | |a Sliding mode control | ||
| 653 | |a Methods | ||
| 653 | |a Error reduction | ||
| 653 | |a Control stability | ||
| 653 | |a Control methods | ||
| 653 | |a Agricultural vehicles | ||
| 653 | |a Tracking errors | ||
| 653 | |a Constraints | ||
| 653 | |a Farm machinery | ||
| 653 | |a Agricultural development | ||
| 653 | |a Environmental | ||
| 700 | 1 | |a Sun, Weiming |u School of Agricultural Engineering, Jiangsu University, No. 301 Xuefu Road, Zhenjiang 212013, China; 2222416070@stmail.ujs.edu.cn (L.Z.); 2112316034@stmail.ujs.edu.cn (W.S.); jsluen@163.com (E.L.); 2222216049@ujs.edu.cn (J.X.) | |
| 700 | 1 | |a Zhang, Qian |u School of Agricultural Engineering, Jiangsu University, No. 301 Xuefu Road, Zhenjiang 212013, China; 2222416070@stmail.ujs.edu.cn (L.Z.); 2112316034@stmail.ujs.edu.cn (W.S.); jsluen@163.com (E.L.); 2222216049@ujs.edu.cn (J.X.) | |
| 700 | 1 | |a Lu, En |u School of Agricultural Engineering, Jiangsu University, No. 301 Xuefu Road, Zhenjiang 212013, China; 2222416070@stmail.ujs.edu.cn (L.Z.); 2112316034@stmail.ujs.edu.cn (W.S.); jsluen@163.com (E.L.); 2222216049@ujs.edu.cn (J.X.) | |
| 700 | 1 | |a Xue Jialin |u School of Agricultural Engineering, Jiangsu University, No. 301 Xuefu Road, Zhenjiang 212013, China; 2222416070@stmail.ujs.edu.cn (L.Z.); 2112316034@stmail.ujs.edu.cn (W.S.); jsluen@163.com (E.L.); 2222216049@ujs.edu.cn (J.X.) | |
| 700 | 1 | |a Sha Guohui |u Weichai Lovol Intelligent Agricultural Technology Co., Ltd., Weifang 261200, China; shaguohui@lovol.com | |
| 773 | 0 | |t Agriculture |g vol. 15, no. 15 (2025), p. 1663-1679 | |
| 786 | 0 | |d ProQuest |t Agriculture Science Database | |
| 856 | 4 | 1 | |3 Citation/Abstract |u https://www.proquest.com/docview/3239016017/abstract/embedded/75I98GEZK8WCJMPQ?source=fedsrch |
| 856 | 4 | 0 | |3 Full Text + Graphics |u https://www.proquest.com/docview/3239016017/fulltextwithgraphics/embedded/75I98GEZK8WCJMPQ?source=fedsrch |
| 856 | 4 | 0 | |3 Full Text - PDF |u https://www.proquest.com/docview/3239016017/fulltextPDF/embedded/75I98GEZK8WCJMPQ?source=fedsrch |