Sliding Mode Path Tracking Control for Spraying Mobile Robots Based on Weighed Integral Gain Reaching Law

摘要

For the spraying mobile robot, in order to solve the bad effect of the complex unstructured environment of intensive planting, ground obstacles and spatial disorders coexisting on the path tracking control precision, a sliding mode control method is proposed based on weighted integral gain reaching law to reduce chattering and to improve tracking performance of the system. Moreover, the asymptotical stability of the closed loop system is proved using Lyapunov function. Finally simulation results illustrate the validity and feasibility of the proposed control method.