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The control system of the agricultural tracked robot is generally susceptible to various parameter perturbations and external disturbances. In this pursuit, the present work envisages the steering control based on an adaptive fuzzy sliding mode, by combining the fuzzy theory and the sliding mode control. Initially, the steering angle model of the tracked robot was deduced, and the characteristics of the DC servo motor were analyzed. Subsequently, a time-varying sliding surface with integral terms was designed to construct the adaptive control based fuzzy sliding mode on the equivalent control and the switching control. Based on fuzzy logic, the equivalent control used the sliding mode surface and its rate of change as the input of the fuzzy system, which were approximated to the equivalent control according to the simplified calculation of the fuzzy system output. This not only kept the rapidity and robustness of the sliding mode control, but also well suppressed the buffeting problem of the sliding mode control. The simulation and experimental results showed that the proposed control not only had strong robustness against the external disturbance and parameter perturbation, but also had the characteristics of a fast dynamic response and good tracking performance, when compared with the conventional sliding mode control method, thus making it applicable to the control system of the tracked robot.
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