Faster Fixed-Time Path Tracking Control for Autonomous Agricultural Vehicles With Input Saturation

Fast convergence time is crucial for the path tracking control of autonomous agricultural vehicles (AAVs), enabling them to swiftly adapt to complex environments. In this work, we present a novel generalized proportional integral observer (GPIO)-based faster fixed-time control scheme, enhancing the rapid responsiveness of AAVs while effectively compensating for time-varying disturbances. Then, an auxiliary system is developed to mitigate the adverse effects of actuator saturation that may occur due to rapid response. Subsequently, a Lyapunov-based stability analysis is provided to demonstrate the fixed-time convergence of the AAV path tracking system. Finally, comparative experiments validate the superiority of the proposed control scheme.