Abstract
Path tracking control for the autonomous tractor has been receiving increased attention with the rapid development of modern agriculture. Lateral displacement control is essential for the path tracking effect. The objective of this research is to develop a lateral displacement control system to control the lateral position of tractor. Based on the kinematic model, a cascade control scheme for lateral displacement control system was designed. The two feedback loops in the cascade control structure were implemented using the measurements of the Beidou receiver and gyroscope respectively. The yaw rate controller was designed using IMC-PID technique, and the lateral position controller was devised as a PID form using the method of minimum sensitivity. A set point filter was added in the outer loop to improve the tracking performance. The simulation results demonstrated the efficiency of the proposed control scheme by showing fast response, control accuracy and robust performance for the lateral displacement control system.
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