On-line adaptive control of a farm tractor by compensation of parameter variations

被引：0
|
作者：
Gartley, Evan R. [1 ]
Bevly, David M. [1 ]
机构：
[1] Haley Ctr 301, Dept Mech Engn, Auburn, AL 36849 USA
来源：
Proceedings of the ASME Dynamic Systems and Control Division 2005, Pts A and B | 2005年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：977 / 985
页数：9
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