Abstract:This paper presents a model-reference adaptive controller (MRAC) for steering a farm tractor with varying hitch forces. Hitch forces play an important role in the yaw dynamics of the tractor, and these forces change with respect to different implements and soil conditions. It is desired that the tractor has the same dynamic response no matter what the hitch forces may be. A good dynamic yaw model has been developed for a tractor with hitch forces, and one parameter in this model changes with hitch loading. A M… Show more
The dynamics of a skid-steering robot present intrinsic non-linearities that make the design and implementation of a controller a very complex task, time-consuming, and difficult to implement into an embedded system with limited resources. This paper presents a simplified first order digital model approximation and an optimal observer-based control approach for the tracking of the lateral position of such robots. In order to verify the validity of this proposal, 3D real-time interactive simulations and real validations with an agricultural skid-steering robot were performed with satisfactory results.
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