Research on Longitudinal and Lateral Game Control of Intelligent Agricultural Machine Stackelberg Based on Takagi‐Sugeno Fuzzy Model

Aiming at the coupling interference problem of intelligent driving agricultural machinery in the longitudinal and lateral control, and the real-time change of key parameters in the process of establishing the dynamic model, which seriously reduces the control performance of the controller, etc. In this paper, a Takagi-Sugeno (T-S) Fuzzy Model Stackelberg game control algorithm (T-S Stackelberg game control) is proposed. Firstly, according to the characteristics of the model, the change parameters in the model were determined. Secondly, the T-S fuzzy model was designed, and the corresponding membership functions were determined. Thirdly, the T-S Stackelberg game controller was designed. Finally, the reliability of the proposed algorithm is verified by a hardware-in-the-loop experiment.