Research on trajectory tracking behavior in traction task for tractor-aircraft system

In this investigation, a three-degree-of-freedom dynamic model of non-rod tractor-aircraft system is established based on its towing characteristics. In this model, the nonlinear effect of articulation angle between tractor and aircraft is taken into account. Employing input-output decoupling method, the nonlinear relationship between steering angle and centroid lateral displacement for the tractor, which is hauling the aircraft in a curve route, is investigated. With the consideration of parameter diversities and external input smoothness, tractor automatic steering controller of trajectory tracking with dynamic sliding mode is proposed based on variable structure control strategy. Simulation results demonstrate that variable structure controller can effectively suppress the effects of uncertainty parameters on tractor tracking performance; and make lateral deviation to zero.