Fast Supertwisting Sliding Mode Control With Antipeaking Extended State Observer for Path-Tracking of Unmanned Agricultural Vehicles

Path-tracking control of unmanned agricultural vehicles (UAVs) is the key technology for smart farming. In this article, a novel fast super-twisting sliding mode (FSTSM) control based on the antipeaking extended state observer (AESO) is constructed for the path-tracking control design of UAVs with u...

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Bibliographic Details
Published inIEEE transactions on industrial electronics (1982) Vol. 71; no. 10; pp. 12973 - 12982
Main Authors Yang, Wenhao, Ding, Shihong, Ding, Chen
Format Journal Article
LanguageEnglish
Published New York IEEE 01.10.2024
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Agricultural vehicles
Control design
Controllers
Convergence
Extended state observer
finite-time stability
Heuristic algorithms
Kinematics
Path tracking
Perturbation
Perturbation methods
Robust control
Sliding mode control
Stability analysis
State observers
supertwisting algorithm
Tracking control
Twisting
Unmanned aerial vehicles
unmanned agricultural vehicles (UAVs)
Vehicle dynamics
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Summary:Path-tracking control of unmanned agricultural vehicles (UAVs) is the key technology for smart farming. In this article, a novel fast super-twisting sliding mode (FSTSM) control based on the antipeaking extended state observer (AESO) is constructed for the path-tracking control design of UAVs with unknown matching perturbations. To begin with, the AESO with time-varying bandwidth is created in order to reduce the detrimental effects of perturbations and lessen the impact of the peaking phenomenon. The FSTSM controller is then presented to eliminate chattering problem existing in conventional super-twisting sliding mode (STSM) control. Different from the STSM controller, the proposed FSTSM controller can provide stronger robustness and faster convergence. Furthermore, by merging the FSTSM and AESO, a composite path-tracking controller for UAVs is proposed, which can ensure that both the lateral offset and the orientation deviation can be stabilized to the origin in finite time. Finally, comparative simulations and experiments are carried out to illustrate the superiority of the proposed strategy in perturbation rejection and tracking performance.
ISSN:0278-0046
1557-9948
DOI:10.1109/TIE.2024.3355507