Straight-Line Path Tracking Control of Agricultural Tractor-Trailer Based on Fuzzy Sliding Mode Control

In order to solve the labor shortage problem, unmanned agricultural vehicles have been widely promoted in China. Among these vehicles, tractor-trailers garnered most interest thanks their flexibility and efficiency. However, trapped by factors of vehicle parameter uncertainties, unstructured farmland roads, etc., current shown poor tracking accuracy longer online times straight-line path tracking. To overcome aforementioned issues, a fuzzy sliding mode control (FSMC) approach is proposed this paper. First, tractor-trailer error model was established based on kinematic reference model. Then, according (SMC) theory, FSMC designed. Through Lyapunov theory analysis, method can ensure that articulated angle, position error, heading all converge zero. Finally, field tests Simulink simulations demonstrated effectiveness robustness suggested mechanism. According experiments, increase trailer steady-state between 10.5 36.8% tractor 11.1 50%.