Name
Title | ||
|---|---|---|
Adaptive control of a farm tractor with varying yaw dynamics accounting for actuator dynamics and saturations |
Abstract | ||
|---|---|---|
This paper presents an adaptive control system implemented on an automatically steered farm tractor. The yaw dynamics of the tractor are time varying due to different attached implements and soil conditions; therefore, a model reference adaptive control (MRAC) system is developed to automatically adjust the feed-forward yaw rate controller to changes in the current yaw plant. The MRAC algorithm is next modified from itpsilas original form to account for steering actuator dynamics and nonlinearities. Simulated results are presented that demonstrate the algorithmpsilas performance under ideal conditions. Experimental results are presented that show that the algorithm performs well on a real system with changing yaw dynamics. Finally, experimental results are shown that demonstrate improved tracking performance verses a fixed-gain configuration. |
Year | DOI | Venue |
|---|---|---|
2008 | 10.1109/CCA.2008.4629591 | San Antonio, TX |
Keywords | Field | DocType |
actuators,agricultural machinery,farming,feedforward,model reference adaptive control systems,nonlinear control systems,road vehicles,steering systems,time-varying systems,vehicle dynamics,actuator dynamics,actuator saturation,automatically steered farm tractor,feed-forward yaw rate controller,model reference adaptive control system,nonlinear control system,soil condition,time varying system,yaw dynamics | Control theory,Computer science,Control theory,Control engineering,Vehicle dynamics,Adaptive control,Control system,Tractor,Yaw,Actuator,Feed forward | Conference |
ISSN | ISBN | Citations |
1085-1992 | 978-1-4244-2223-4 | 1 |
PageRank | References | Authors |
0.40 | 0 | 2 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| J. Benton Derrick | 1 | 5 | 0.96 |
| David M. Bevly | 2 | 188 | 27.06 |