A Novel Control Method for Unmanned Agricultural Tractors: Composite Back-stepping Sliding Mode Path Tracking

A composite back-stepping sliding mode controller is explored in the paper to address under-actuated, input saturated, and time-varying disturbances, as well model-dependent issues that bother path tracking control of unmanned agricultural tractors. Specifically, error model introduced. The extended state observers (ESO) with parameters are employed handle lump disturbances resulting from external nonlinearity. novel proposed based on active disturbance rejection control, whose effectiveness elaborated by simulations experiments. According results, controller, stability elucidated appendix, outperforms fuzzy pure pursuit reducing lateral offset.