EID-based finite-time nonsingular fast terminal sliding mode control of autonomous farming vehicle.

The precision of trajectory tracking control of the autonomous farming vehicle directly affects crop yield. Farmland environment is relatively complex, not only including the continuous parallel and significant curvature curve trajectory alternating, but its operating environment is also relatively soft and wet. In this regard, a finite-time trajectory tracking control strategy integrated nonsingular fast terminal sliding mode (NFTSM) and equivalent input disturbance (EID) is proposed for the autonomous farming vehicle. The EID approach is applied to enhance the tracking precision and the robustness to the external disturbance. The EID-based NFTSM control strategy ensures the convergence of tracking errors and chattering suppression. The effectiveness and advantages of the designed control strategy are verified by comparing it with the finite-time-disturbance-observer-based NFTSM control strategy under MATLAB/Simulink environment.