Finite-time saturated controller design for straight line navigation of an agricultural tractor

Finite-time control systems usually have better disturbance rejection property and faster convergence performance. For the linearized dynamics of the linear navigation system of an agricultural tractor, a novel control algorithm based on finite-time control technique and saturation method is proposed. Based upon the presented method, the finite-time saturated controller is designed for the linear navigation of an agricultural tractor, and the global stability for the closed loop system is proved. Meanwhile, the selection of parameters in saturated controller just requires some simple mathematical relationships, and the control method has some potential practical applications. Simulation results also verify the effectiveness of the proposed method.