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The path-tracking of an agricultural vehicle with input saturation

Based upon the kinematics of the linear navigation system for an agricultural tractor, this paper develops a linear path-tracking controller by using saturation method, and gives the global stability for the closed loop system. The advantages of the proposed controller lie in on one hand that it does not require the common-used linear transformation that is always needed in conventional saturated controller design, which yields the simple structure of the controller. On the other hand, there is no decreasing restriction on the saturation levels, and thus the controller improves the convergence of the closed loop system. Simulation results also verify the above mentioned advantages. Meanwhile, this method provides a theoretical basis for design of straight-line navigation controller of agricultural tractor.