Path Tracking Method Of Unmanned Agricultural Vehicle Based On Compound Fuzzy Control

This paper proposes an unmanned agricultural vehicle path tracking method based on compound fuzzy control, designs a compound PD fuzzy controller based on lateral error and heading error, and specifies the corresponding weight variables to adjust the output of the two fuzzy controllers. Integral compensation is adopted to solve the problem of low steady-state accuracy of traditional PD-type fuzzy control, realizing high-precision path tracking of unmanned agricultural vehicle. Among them, the weight optimization method based on ITAE index is adopted to make the controller output adaptively change according to the lateral error; the integral controllers for lateral error and heading error are designed separately to compensate for steady-state errors. The simulation and real vehicle test results show that the linear tracking steady-state error of the controller is within 2cm on average, which is greatly improved compared with the traditional fuzzy controller.