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An improved path tracking proportion differentiation (PD) controller was designed to enhance the path tracking performance of tractors used in hostile environments. The improved PD controller processed the input and output signals using two tracking differentiators to calculate the error and error differential signals; the control law involved the linear combination of the error and error differential signals. Controller simulations were performed based on the establishment of a tractor kinematic model, controller mathematical model, and control algorithm. When there was considerable noise pollution in the system, the simulation results demonstrated that the traditional PID controller caused the system to become unstable due to its noise amplification effect. However, the improved PD controller allowed the system to remain stable because of its filter. In addition, the improved PD controller enabled the system exhibit a smaller overshoot, shorter settling time, and fewer oscillations due to the transient process added on the input signal by the tracking differentiator (TD). Therefore, the anti-noise and dynamic performances of the improved PD controller are improved over the traditional PID controller.

Abstract.