Self-tuning Regulator for a Tractor with Varying Speed and Hitch Forces

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 regul...

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Bibliographic Details
Authors: Fernandez, Benjamin, Herrera Caro, Pedro Javier, Cerrada Somolinos, José Antonio
Format: article
Publication Date:2018
Country:España
Institution:Universidad Nacional de Educación a Distancia
Repository:e-spacio. Repositorio Institucional de la UNED
Language:English
OAI Identifier:oai:e-spacio.uned.es:20.500.14468/29819
Online Access:https://hdl.handle.net/20.500.14468/29819
Access Level:Open access
Keyword:1203.17 Informática
Tractor-Implement System
Self-tuning regulator
Minimum-degree pole placement
Agricultural Guidance
Control Systems
Model-following
OpenGL
Openframeworks
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oai_identifier_str oai:e-spacio.uned.es:20.500.14468/29819
network_acronym_str ES
network_name_str España
repository_id_str
spelling Self-tuning Regulator for a Tractor with Varying Speed and Hitch ForcesFernandez, BenjaminHerrera Caro, Pedro JavierCerrada Somolinos, José Antonio1203.17 InformáticaTractor-Implement SystemSelf-tuning regulatorMinimum-degree pole placementAgricultural GuidanceControl SystemsModel-followingOpenGLOpenframeworksDue 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.Elseviere-Spacio UNED20252025-08-0420182018-02-0120182018-02-01journal articlehttp://purl.org/coar/resource_type/c_6501info:eu-repo/semantics/articleapplication/pdfhttps://hdl.handle.net/20.500.14468/29819reponame:e-spacio. Repositorio Institucional de la UNEDinstname:Universidad Nacional de Educación a DistanciaInglésengopen accesshttp://purl.org/coar/access_right/c_abf2info:eu-repo/semantics/openAccesshttp://creativecommons.org/licenses/by-nc-nd/4.0/deed.esoai:e-spacio.uned.es:20.500.14468/298192026-06-06T12:38:31Z
dc.title.none.fl_str_mv Self-tuning Regulator for a Tractor with Varying Speed and Hitch Forces
title Self-tuning Regulator for a Tractor with Varying Speed and Hitch Forces
spellingShingle Self-tuning Regulator for a Tractor with Varying Speed and Hitch Forces
Fernandez, Benjamin
1203.17 Informática
Tractor-Implement System
Self-tuning regulator
Minimum-degree pole placement
Agricultural Guidance
Control Systems
Model-following
OpenGL
Openframeworks
title_short Self-tuning Regulator for a Tractor with Varying Speed and Hitch Forces
title_full Self-tuning Regulator for a Tractor with Varying Speed and Hitch Forces
title_fullStr Self-tuning Regulator for a Tractor with Varying Speed and Hitch Forces
title_full_unstemmed Self-tuning Regulator for a Tractor with Varying Speed and Hitch Forces
title_sort Self-tuning Regulator for a Tractor with Varying Speed and Hitch Forces
dc.creator.none.fl_str_mv Fernandez, Benjamin
Herrera Caro, Pedro Javier
Cerrada Somolinos, José Antonio
author Fernandez, Benjamin
author_facet Fernandez, Benjamin
Herrera Caro, Pedro Javier
Cerrada Somolinos, José Antonio
author_role author
author2 Herrera Caro, Pedro Javier
Cerrada Somolinos, José Antonio
author2_role author
author
dc.contributor.none.fl_str_mv e-Spacio UNED
dc.subject.none.fl_str_mv 1203.17 Informática
Tractor-Implement System
Self-tuning regulator
Minimum-degree pole placement
Agricultural Guidance
Control Systems
Model-following
OpenGL
Openframeworks
topic 1203.17 Informática
Tractor-Implement System
Self-tuning regulator
Minimum-degree pole placement
Agricultural Guidance
Control Systems
Model-following
OpenGL
Openframeworks
description 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.
publishDate 2018
dc.date.none.fl_str_mv 2018
2018-02-01
2018
2018-02-01
2025
2025-08-04
dc.type.none.fl_str_mv journal article
http://purl.org/coar/resource_type/c_6501
dc.type.openaire.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv https://hdl.handle.net/20.500.14468/29819
url https://hdl.handle.net/20.500.14468/29819
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
info:eu-repo/semantics/openAccess
http://creativecommons.org/licenses/by-nc-nd/4.0/deed.es
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
http://creativecommons.org/licenses/by-nc-nd/4.0/deed.es
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv Elsevier
publisher.none.fl_str_mv Elsevier
dc.source.none.fl_str_mv reponame:e-spacio. Repositorio Institucional de la UNED
instname:Universidad Nacional de Educación a Distancia
instname_str Universidad Nacional de Educación a Distancia
reponame_str e-spacio. Repositorio Institucional de la UNED
collection e-spacio. Repositorio Institucional de la UNED
repository.name.fl_str_mv
repository.mail.fl_str_mv
_version_ 1869422736481189888
score 15,811543

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