This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
Self-Tuning Controller for Farm Tractor Guidance
Annotation ability available
Sector:
Language:
English
Abstract
Automatic guidance of farm tractors would improve productivity of many field operations by reducing operator fatigue and by improving machine performance. A self-tuning steering controller, which can be used for noncontact positioning systems, was designed for tractor guidance. A simple two degrees-of-freedom model was chosen with which to develop a prediction model used in recursive least-squares parameter estimation. A variable forgetting factor was implemented and its algorithm modified to cope with time-varying nonlinear systems. The self-tuning steering controller based upon minimum variance control was tested and verified with a tractor dynamic simulator. Circular, lane change, and sinusoidal paths were used. A model tractor was also used to verify controller performance for staight-line and sinusoidal paths.
Recommended Content
Authors
Citation
Noh, K. and Erbach, D., "Self-Tuning Controller for Farm Tractor Guidance," SAE Technical Paper 911861, 1991, https://doi.org/10.4271/911861.Also In
References
- Albert, A. Sittler R.W. 1966 method for computing least squares estimators that keep up with the data SIAM J. Control 3 3 384 417
- Ȧström, K.J. 1970 Introduction to stochastic control theory Academic Press, Inc. New York, NY
- Ȧström, K.J. 1983 Theory and applications of adaptive control Automatica 19 5 471 486
- Ȧström, K.J. Bohlin T. 1966 Numerical identification of linear dynamic systems from normal operation records Theory of Self-adaptive Control Systems Plenum Press New York
- Ȧström, K.J. Eykhoff P. 1971 System identification--A survey Automatica 7 123 162
- Ȧström, K.J. Wittenmark B. 1973 On self tuning regulators Automatica 9 185 199
- Ȧström, K.J. Wittenmark B. 1980 Self-tuning controllers based on pole-zero placement IEE Proceedings, Part D: Control Theory and Applications 127 3 120 130
- Ȧström, K.J. Wittenmark B. 1984 Computer controlled system Prentice-Hall, Inc. Englewood Cliffs, NJ
- Ȧström, K.J. Borisson U. LJung L. Wittenmark B. 1977 Theory and applications of self-tuning regulators Automatica 13 457 476
- Bierman, G.J. 1977 Factorization Methods for Discrete Sequential Estimation Academic Press, Inc. New York
- Clarke, D.W. Gawthrop P.J. 1975 Self-tuning controller IEEE Proceedings, Part D: Control Theory and Applications 122 929 934
- Fortescue, T.R. Kershenbaum L.S. Ydstie B.E. 1981 Implementation of self-tuning regulators with variable forgetting factors Automatica 17 6 831 835
- Goodwin, G.C. Ramadge P.J. Caines P.E. 1980 Discrete-time multivariable adaptive control IEEE Transactions on Automatic Control 25 3 449 456
- Isermann, R. 1980 Practical aspects of process identification Automatica 16 575 587
- Isermann, R. 1982 Parameter adaptive control algorithms--a tutorial Automatica 18 5 513 528
- Ljung, L. 1987 System identification: Theory for the user Prentice-Hall, Inc. Englewood Cliffs, NJ
- Ljung, L. Söderström T. 1984 Theory and practice of recursive identification The MIT Press Cambridge, MA
- McHenry, R.R. 1968 An analysis of the dynamics of automobiles during simultaneous cornering and ride motions Handling of Vehicles under Emergency Conditions, Proceedings of the Institution of Mechanical Engineers 183 61 81
- Mendel, J.M. 1973 Discrete techniques of parameter estimation Marcel Dekker, Inc. New York, NY
- Noh, Kwang-Mo Erbach D.C. 1991 A semi-recursive dynamic algorithm using variational vector approach Transactions of the ASAE 34 4
- Pasternack, S. 1973 Some modern control aspects of automatically steered rubber-tire vehicles ASME Paper No. 73-ICT-54 ASME New York, NY
- Peterka, V. 1972 On steady state minimum variance control strategy Kybernetika 8 3 219 231
- Shladover, S.E. Wormley D.N. Richardson H.H. Fish R. 1978 Steering controller design for automated guideway transit vehicles J. of Dynamic Systems, Measurement, and Control 100 3 1 8