无人农机路径跟踪控制系统设计及试验验证OA

To address the path-following control issue of autonomous agricultural vehicles in complex field operating en-vironments,a tracking control system based on the line-of-sight guidance method and sliding mode control is proposed through simulation and experimental studies.By introducing an improved line-of-sight guidance algorithm,a sliding mode yaw controller integrating fuzzy logic systems and input saturation compensation is designed,combined with an ex-tended state observer and an adaptive terminal sliding mode disturbance observer.Finally,field vehicle tests demon-strate that the system maintains lateral tracking errors within±0.05 m in both dry and muddy field conditions,exhibi-ting robust performance and practical engineering applicability.All research findings collectively offer a viable technical solution for high-precision path tracking of unmanned agricultural machinery.