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Adaptive steering control of a farm tractor with varying yaw rate properties
Author(s) -
Derrick J. Benton,
Bevly David M.
Publication year - 2009
Publication title -
journal of field robotics
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.152
H-Index - 96
eISSN - 1556-4967
pISSN - 1556-4959
DOI - 10.1002/rob.20291
Subject(s) - tractor , yaw , control theory (sociology) , actuator , controller (irrigation) , engineering , adaptive control , position (finance) , automotive engineering , simulation , computer science , control engineering , control (management) , artificial intelligence , agronomy , finance , economics , biology
This paper presents a novel application of a model reference adaptive control (MRAC) system to control the lateral position of a farm tractor tracking a straight path. Farm tractors can be configured with various implements, and the tractor yaw rate dynamics vary with each implement. It is desired that the lateral position response of the farm tractor remain consistent with respect to different implement configurations. Therefore, a MRAC system is implemented on the farm tractor to compensate for yaw rate plant variations by adapting the feed‐forward yaw rate controller. Simulation results of the algorithm are shown that display poor performance due to neglected steering actuator dynamics and saturation. Modifications are made to the algorithm to account for the steering actuator properties, and more simulated results are presented that display ideal performance. Finally, the MRAC algorithm is implemented on a John Deere 8420 farm tractor, and experimental results are presented. © 2009 Wiley Periodicals, Inc.