Cargando...
Fecha
2018-02
Derechos de acceso
info:eu-repo/semantics/openAccess
Título de la revista
ISSN de la revista
Título del volumen
Editorial
Elsevier
Citas
Resumen
Due to the changes in the soil, speed and hitch forces, the dynamics of a farm tractor are constantly changing making the design of an autonomous lane-tracking controller a very complex task. To be able to react to those changes, this paper presents a new adaptive system based on a self-tuning regulator made up of a recursive least-squares parameter identification algorithm for the plant combined with a minimum-degree pole placement (MDPP) method for changing the parameters of a digital RST controller in real time. The MDPP is computed by solving the Diophantine equation for the desired closed-loop reference model. The results presented show how the system is able to adapt the control parameters for different speeds and changes in the hitch cornering stiffness. As future work, this method could also be applied and assessed as a general controller, covering different sizes and different types of steering systems for off-road vehicles.
Descripción
Este es el manuscrito aceptado del artículo. La versión registrada fue publicada por primera vez en Computers and Electronics in Agriculture (2018), 145, pp. 282–288, está disponible en línea en el sitio web del editor: https://doi.org/10.1016/j.compag.2017.12.027.
This is the accepted manuscript of the article. The registered version was first published in Computers and Electronics in Agriculture (2018), 145, pp. 282–288, and is available online from the publisher's website: https://doi.org/10.1016/j.compag.2017.12.027.
Categorías UNESCO
Palabras clave
Tractor-Implement System, Self-tuning regulator, Minimum-degree pole placement, Agricultural Guidance, Control Systems, Model-following, OpenGL, Openframeworks
Citación
B. Fernandez, P.J. Herrera, J.A. Cerrada. "Self-tuning regulator for a tractor with varying speed and hitch forces". Computers and Electronics in Agriculture (2018), 145, pp. 282–288. https://doi.org/10.1016/j.compag.2017.12.027
Centro
E.T.S. de Ingeniería Informática
Departamento
Ingeniería de Software y Sistemas Informáticos