Barrier Function-Based Nonsingular Terminal Sliding Mode Control for Path Tracking of Tractor-Like With Experimental Validation
Xin Ji, Shihong Ding, Bingbo Cui, Chen Ding, Xinhua Wei
Abstract
Path-tracking control of autonomous agricultural vehicles (AAVs) is a challenging issue, which is particularly true in highly unstructured field environments due to various uncertainties such as unknown bound magnitudes. For the purpose of tackling these uncertainties and increasing tracking accuracy, this brief designs a novel control approach for AAVs. To this end, the barrier function-based nonsingular terminal sliding mode (BFNTSM) is developed. The designed barrier function is incorporated into the controller to eliminate chattering and avoid gain overestimation. Furthermore, the adaptive barrier method guarantees that the sliding variable eventually converges to a predetermined region around zero within a finite time. Finally, a tractor-like experimental vehicle is built and experiments verified the superiority of the proposed technique.