Finite time trajectory tracking control of autonomous agricultural tractor integrated nonsingular fast terminal sliding mode and disturbance observer

Abstract

A novel control strategy is proposed in this paper to improve the trajectory tracking performance of the autonomous agricultural tractor on both straight-line parallel tracks and headland turning curve tracks in the face of slippage, which combines the nonsingular fast terminal sliding mode (NFTSM) control with a kind of finite time disturbance observer (FDO). The designed FDO ensures robustness outside the sliding mode surface, while the constructed NFTSM ensures the fast convergence of tracking errors and chattering suppression. The effectiveness and advantages of the designed control strategy are verified by simulation comparison with the existing results under MATLAB/Simulink and CarSim co-simulation environment.