Research on Anti-Windup Controller of Autonomous Navigation Vehicle Based on Improved Adaptive Filter

Abstract

This paper presents relevant methods on navigation accuracy improvement of agricultural vehicle focusing on positioning accuracy and control precision. An adaptive kalman filtering, combination of Sage_Husa adaptive filtering and strong tracking kalman filtering based on strict convergence criterion, is adopted to improve filtering accuracy with strong ability of adaptive filtering and restraining filter divergence. A new variable-structure switching method to prevent PID controller from integrator windup can effectively solve the integral saturation phenomenon, which adopts a kind of adaptive adjustment rate to adjust the integral term of PID control algorithm. Finally, this paper puts the improved adaptive filtering and anti-windup variable-structure PID control technique into combination to effectively restrain interference and integral saturation, so as to achieve the purpose of improving system stability and control precision. The simulation and experiment results show that methods described above greatly enhance the capabilities of restraining filtering divergence and improving control precision.