ADRC-Based Active Front Steering Strategy for Path Tracking of A Farm Vehicle

Abstract

In view of the performance requirement for the trajectory tracking control of farming vehicles, an active front steering strategy is designed in this paper by active disturbance rejection control (ADRC) technique and particle swarm optimization (PSO) algorithm for path tracking of an agricultural machinery. Due to the capability of estimating the lumped disturbance including system unmodeled dynamics, parameter perturbations and external disturbance by the extended state observer (ESO), the ADRC with ESO is adopted to fully compensate the system uncertainties so as to improve the path tracking performance and guarantee the control performance robustness. Moreover, to further improve the control precision of farming, the PSO algorithm is used to optimize the adjustable parameters of the controller. Simulation results are presented to show the effectiveness of the proposed control strategy,