Disturbance Observer for Path-following Control of Autonomous Agricultural Vehicles

T. Hiramatsu, M. Pencelli, S. Morita, M. Niccolini, M. Ragaglia, A. Argiolas

Abstract

This paper proposes a disturbance observer to be integrated inside a path-following controller in order to improve motion accuracy of an autonomous driving tractor. During operation, the tractor undergoes the effects of external forces due to either the action of the implement or the inclination of the ground. In such conditions, it is difficult to work precisely along a pre-determined path. By considering external forces as disturbances, it is possible to design a disturbance observer that estimates the steering angle on the basis of yaw-rate and lateral velocity. The proposed approach has been tested in a simulation environment.

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Paper Citation


in Harvard Style

Hiramatsu T., Pencelli M., Morita S., Niccolini M., Ragaglia M. and Argiolas A. (2019). Disturbance Observer for Path-following Control of Autonomous Agricultural Vehicles.In Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-380-3, pages 251-258. DOI: 10.5220/0007834402510258


in Bibtex Style

@conference{icinco19,
author={T. Hiramatsu and M. Pencelli and S. Morita and M. Niccolini and M. Ragaglia and A. Argiolas},
title={Disturbance Observer for Path-following Control of Autonomous Agricultural Vehicles},
booktitle={Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2019},
pages={251-258},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007834402510258},
isbn={978-989-758-380-3},
}


in EndNote Style

TY - CONF

JO - Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Disturbance Observer for Path-following Control of Autonomous Agricultural Vehicles
SN - 978-989-758-380-3
AU - Hiramatsu T.
AU - Pencelli M.
AU - Morita S.
AU - Niccolini M.
AU - Ragaglia M.
AU - Argiolas A.
PY - 2019
SP - 251
EP - 258
DO - 10.5220/0007834402510258