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Authors: T. Hiramatsu ; M. Pencelli ; S. Morita ; M. Niccolini ; M. Ragaglia and A. Argiolas

Affiliation: Yanmar R&D Europe S. R. L., Viale Galileo 3/A, Firenze and Italy

Keyword(s): Path-following Control, Agricultural Tractor, Disturbance Observer.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robot Design, Development and Control ; Robotics and Automation

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 several formats:
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; ISSN 2184-2809, SciTePress, pages 251-258. DOI: 10.5220/0007834402510258

@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},
issn={2184-2809},
}

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
IS - 2184-2809
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
PB - SciTePress

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