摘要：For tracking control issues of distributed electric-driven agricultural vehicles in the complex road conditions driving state, a 6-degree-of-freedom model of agriculture vehicle was established. On this basis, a mathematical model for control system design was derived using the significant advantages of real-time online estimation of vehicle yaw angular velocity of nonlinear third-order extended state observer. Based on the nonlinear third-order extended state observer, a fast and smooth terminal sliding mode control algorithm was designed using the mathematical model. Afterward, the stability of system was analyzed based on Lyapunov theory. The control algorithm used the fast and smooth terminal sliding mode control instead of the normal terminal sliding mode control required control coefficient matrix inverse calculation, which improved the real-time of the control algorithm. Meanwhile, the smooth sliding mode approach law could converge to the sliding surface in finite time and effectively eliminate chattering, and it had strong adaptability to perturbation and perturbation of system parameters. Simulation and experimental results showed that compared with the traditional nonlinear feedback control algorithm based on nonlinear third-order extended state observer, the proposed control algorithm had short adjustment time, small overshoot and good tracking control accuracy.
关键词：Distributed electric-driven agricultural vehicles;6-degree-of-freedom model;driving state;real-time online estimation;tracking control
