Research on Path Following Control Method of Agricultural Machinery Autonomous Navigation through LQR-Feed Forward Control

Aiming at the problem of agricultural machinery autonomous navigation path tracking motion control, based on the analysis of the characteristics of agricultural machinery tracking control, this paper proposes a motion control method with feedforward control LQR. By constructing a two-degree-of-freedom dynamic model of agricultural machinery, analyzing the lateral deviation and heading deviation of path tracking, the LQR controller and feedforward controller in the path tracking of agricultural machinery are designed to eliminate the lateral steady-state error of path tracking control. Through the joint simulation of Carsim and Matlab/Simulink, the tracking deviation of the agricultural machinery in the process of tracking the planned path is obtained. The results show that the algorithm can effectively enable agricultural machinery to perform accurate path tracking operations, and provides a basis for the research of autonomous navigation control algorithms for agricultural machinery.