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On-Line Adaptive Control of a Farm Tractor by Compensation of Parameter Variations

[+] Author Affiliations
Evan R. Gartley, David M. Bevly

Auburn University

Paper No. IMECE2005-81344, pp. 977-985; 9 pages
doi:10.1115/IMECE2005-81344
From:
  • ASME 2005 International Mechanical Engineering Congress and Exposition
  • Dynamic Systems and Control, Parts A and B
  • Orlando, Florida, USA, November 5 – 11, 2005
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 0-7918-4216-9 | eISBN: 0-7918-3769-6
  • Copyright © 2005 by ASME

abstract

An adaptive control technique for the control of a farm tractor during low levels of excitation and at low velocities is presented. An analysis of the data is conducted to determine when it is safe to adapt. A cascaded Kalman Filter is presented to estimate the slope of the DC gain of the steer angle to yaw rate transfer function with respect to velocity and to provide faster updates of position. Given this parameter, the controller gains will be scheduled based on a lookup table of predetermined values that were calculated from system identification tests.

Copyright © 2005 by ASME

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