Path Following Model Predictive Control of 4WID High Ground Clearance Sprayer Considering the Slippage effect

The sliding control of the sprayer tire has an important effect on the stability of the sprayer and can effectively prevent the traction loss caused by the sliding of the driving wheel. A new type of high clearance four wheel independent drive (4WID) sprayer for unmanned driving is proposed in this paper. Fuel cell hybrid power, 4WID with front and rear double steering axles are adopted in proposed sprayer. Therefore, the turning radius of the 4WID sprayer is smaller than the traditional one. Moreover, the front and rear wheels of the sprayer move in highly consistent trajectories, which can reduce the phenomenon of seedling crushing during plant protection operation. Based on the linear time-varying kinematics model (LTV), a layered path tracking control and considering driving wheel slip was constructed to deal with the extremely complex operating environment paddy. The upper model predictive controller (MPC) obtains the steering angle and velocity of the sprayer according to the expected path and the current position to realize the path tracking. The lower layer uses fuzzy control and integral separation PID control to construct the slip controller for the driving wheels so as to achieve effective control the driving wheel slip. Finally, the co- simulation results of ADAMS and MATLAB proved that it was feasible to implement the proposed approach, which can improve the stability and path tracking accuracy of the sprayer in a complex operating environment.