Straight‐Line Tracking Control of an Agricultural Vehicle with Finite‐Time Control Technique

For the agricultural vehicle straight-line tracking system, three control algorithms based upon the finite-time control technique have been proposed to force the vehicle to track a straight line. Without considering the lumped disturbance, a backstepping-like finite-time state-feedback controller is first developed. On this basis, an adaptive state-feedback controller in conjunction with integral sliding mode is further developed in the presence of the lumped disturbance. Finally, a sliding mode disturbance observer is given to estimate the lumped disturbance, and the composite control scheme is presented. Under the composite controller, the lumped disturbance can be compensated and thus the disturbance rejection property has been significantly improved. Simulation results verify the proposed control algorithms.