Trajectory tracking control of self-driving farming vehicle based on nonsingular fast terminal sliding mode and finite time disturbance observer

Zhanmeng Lin, Xiaohong Jiao, Ting Zhang


A robust finite-time trajectory tracking control strategy is proposed in this paper for self-driving farming vehicles considering parameter perturbations and external disturbances. In combination with the sliding mode control theory, the nonsingular fast terminal sliding mode (NFTSM) surface is constructed to improve the response speed and anti-disturbance of the system. The finite time disturbance observer (FDO) is designed to enhance the system's robustness and minimize the chattering effects. The Lyapunov stability approach proves the finite-time stability of the closed-loop control system. The effectiveness and advantages of the designed control strategy are illustrated by comparing with some existing methods under several simulation conditions in the CarSim-Simulink environment.


self-driving farming vehicle; trajectory tracking; nonsingular fast terminal sliding mode (NFTSM); finite time disturbance observer (FDO); finite-time stability

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