Agricultural unmanned vehicle narrow working condition control method based on nonlinear mapping

Abstract

The application discloses a kind of agricultural unmanned vehicle narrow working condition control method based on nonlinear mapping, belong to agricultural unmanned vehicle motion control technical field.The application first establishes kinematic model with Ackerman steering agricultural unmanned vehicle as object, decouples independent heading subsystem;Constitute adjustable speed exponential nonlinear mapping function, and the heading subsystem is nonlinearly mapped to obtain unconstrained system;Adopt backstepping control method to design heading constraint controller, and the system stability is proved by Lyapunov theory;Finally, the control effect is verified by simulation.The application can strictly guarantee that heading is in the constraint boundary all the time without crossing the boundary, can flexibly adjust control response speed, effectively solve the heading constraint control problem under the narrow working condition of agricultural unmanned vehicle, improve operation safety and tracking accuracy.

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