CAJ | 학술논문

阐述了一种基于模糊补偿的离散全局滑模导航控制方法。为了提高农用车辆自动导航的精度和稳定性，引入滑模变结构控制方法，并对其进行了改进。为了降低系统的抖振，采用模糊规则，对补偿控制量进行有效的估计，以消除不确定项的影响。仿真实验表明：该方法优于传统的离散的滑模控制，在理论上是可行的。
천술료일충기우모호보상적리산전국활모도항공제방법。위료제고농용차량자동도항적정도화은정성，인입활모변결구공제방법，병대기진행료개진。위료강저계통적두진，채용모호규칙，대보상공제량진행유효적고계，이소제불학정항적영향。방진실험표명：해방법우우전통적리산적활모공제，재이론상시가행적。
An autonomous navigation system based on sliding mode control for agricultural tractor was proposed.Sliding mode variable structure control method was introduced to improve the precision and stability of the agricultural vehicle au-tomatic navigation.In order to reduce the chattering problem of the system.Fuzzy rules were used to estimate of the a-mount of compensation control effectively to eliminate the influence of the uncertainties;the simulation experiments show that the method is superior to the traditional discrete sliding mode control.It is theoretically feasible.