外文摘要：Path-tracking control of unmanned agricultural vehicles (UAVs) is the key technology for smart farming. In this article, a novel fast super-twisting sliding mode (FSTSM) control based on the antipeaking extended state observer (AESO) is constructed for the path-tracking control design of UAVs with unknown matching perturbations. To begin with, the AESO with time-varying bandwidth is created in order to reduce the detrimental effects of perturbations and lessen the impact of the peaking phenomenon. The FSTSM controller is then presented to eliminate chattering problem existing in conventional super-twisting sliding mode (STSM) control. Different from the STSM controller, the proposed FSTSM controller can provide stronger robustness and faster convergence. Furthermore, by merging the FSTSM and AESO, a composite path-tracking controller for UAVs is proposed, which can ensure that both the lateral offset and the orientation deviation can be stabilized to the origin in finite time. Finally, comparative simulations and experiments are carried out to illustrate the superiority of the proposed strategy in perturbation rejection and tracking performance.
外文关键词：Heuristic algorithms;Perturbation methods;Vehicle dynamics;Kinematics;Convergence;Control design;Stability analysis;Extended state observer;finite-time stability;supertwisting algorithm;unmanned agricultural vehicles (UAVs)
作者：Ding, Shihong;Yang, Wenhao;Ding, Chen
作者单位：Jiangsu Univ
期刊名称：IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
期刊影响因子：0.0
出版年份：2024
出版刊次：71（10）
原文传递申请：江苏省科技资源（工程技术文献）统筹服务平台