Abstract：The path tracking control and the anti-rollover control were respectively constructed based on the kinematic model of sprayer. In the upper layer， the model predictive control (MPC) was used to output the desired steering angle and speed of the sprayer based on the current state of the sprayer and the desired path to achieve trajectory tracking control. The lower layer controller was used to determine whether the vehicle state produced rollover by introducing lateral load transfer rate (LTR) as rollover measure index, and the LTR was controlled by introducing a fuzzy controller to achieve the control of lateral acceleration and stabilize the LTR at a certain threshold value. The sprayer was controlled with better control accuracy and driving stability in the process of trajectory tracking and was ensured without rollover. The joint simulation results of ADAMS/MATLAB show that by anti-rollover control， the LTR of the sprayer can be controlled within 0.5 under complex road conditions with high trajectory tracking accuracy and improved safety.
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