Fast Supertwisting Sliding Mode Control With Antipeaking Extended State Observer for Path-Tracking of Unmanned Agricultural Vehicles

Path-tracking control of unmanned agricultural vehicles (UAVs) is the key technology for smart farming. In this article, a novel fast super-twisting sliding mode (FSTSM) control based on the antipeaking extended state observer (AESO) is constructed for the path-tracking control design of UAVs with unknown matching perturbations. To begin with, the AESO with time-varying bandwidth is created in order to reduce the detrimental effects of perturbations and lessen the impact of the peaking phenomenon. The FSTSM controller is then presented to eliminate chattering problem existing in conventional super-twisting sliding mode (STSM) control. Different from the STSM controller, the proposed FSTSM controller can provide stronger robustness and faster convergence. Furthermore, by merging the FSTSM and AESO, a composite path-tracking controller for UAVs is proposed, which can ensure that both the lateral offset and the orientation deviation can be stabilized to the origin in finite time. Finally, comparative simulations and experiments are carried out to illustrate the superiority of the proposed strategy in perturbation rejection and tracking performance.