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 desgined 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 straight-line and sinusoidal paths.


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    Title :

    Self-tuning controller for farm tractor guidance


    Additional title:

    Automatische Lenkung mit Selbstüberwachung für einen Ackerschlepper


    Contributors:
    Kwang-Mo Noh (author) / Erbach, D.c. (author)

    Published in:

    Publication date :

    1991


    Size :

    12 Seiten, 7 Bilder, 5 Tabellen, 23 Quellen



    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




    Self-tuning controller for farm tractor guidance

    No,K.M. / Erbach,D.C. / Keonkuk Univ.,KR et al. | Automotive engineering | 1991


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