Robust H∞ Stabilization of Uncertain T-S Fuzzy Systems via Dynamic Integral Sliding Mode Control

Duo to the periodicity of farm cropping, harvesting, seeding and spraying, a discrete time model free adaptive iterative learning control (MFAILC) algorithm for path tracking of farm vehicle is proposed. Based on the dynamical form linearization model for farm vehicle kinematic model l, the MFAILC algorithm can be designed just depending on the I/O data of the farm vehicle. The proposed method also can compensate the effect of initial shifting to preserve a perfect tracking. Simulations results illustrate the validity of the proposed methods.