Design of path following controllers based on performance index for agricultural vehicle

Based on performance index, path following PID controllers for agricultural vehicle were designed. The optimal PID controller parameters were tuned respectively by performance indices including ISE, IAE, ITAE and ITSE. Taking overshoot and adjusting time as the evaluation criteria, simulation results showed that satisfactory dynamic and static performance can be achieved under the controllers designed by aforementioned four performance indices. Overshoot and adjusting time of PID controller closed-loop system tuned by ISE were 25.55% and 5.07 s respectively; which were 10.03% and 3.95 s tuned by IAE, ITAE and ITSE in the same system. The controller tuned by IAE, ITAE and ITSE were better than that of ISE in the aspect of control performance. The PID controller parameters could be regulated appropriately by the proposed method, which can provide a theoretical basis for design of agricultural vehicle controllers.