NDLI: Modeling and identification of the yaw dynamics of an autonomous tractor

Content Provider	IEEE Xplore Digital Library
Author	Kayacan, E. Kayacan, E. Ramon, H. Saeys, W.
Copyright Year	2013
Description	Author affiliation: Dept. of Biosyst. (BIOSYST), Univ. of Leuven (KU Leuven), Leuven, Belgium (Kayacan, E.; Kayacan, E.; Ramon, H.; Saeys, W.)
Abstract	This study deals with the yaw dynamics modeling and identification of an autonomous tractor. First, three different yaw dynamics models are developed considering various types of soil conditions. In these model derivations, the relaxation length is considered to calculate the tire side-slip angles for the two models, and the linear model is used to calculate the lateral forces on the tires for all the models. Then, to determine the most appropriate model for the autonomous tractor at hand, frequency domain identification method is preferred. After checking the level of nonlinearities of the steering mechanism and the yaw dynamics by using an odd-odd multisine signal as the excitation, these systems are identified by using maximum likelihood frequency domain identification method. The identifications results show that the two derived models among the three different models have the ability of identifying the yaw dynamics accurately. As a simpler model, an empirical second order model gives also reasonable identification results for the tractor at hand.
Starting Page	1
Ending Page	6
File Size	1059623
Page Count	6
File Format	PDF
ISBN	9781467357678
e-ISBN	9781467357692
DOI	10.1109/ASCC.2013.6606388
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-06-23
Publisher Place	Turkey
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Biological system modeling Wheels Transfer functions Agricultural machinery Tires Frequency measurement Mathematical model
Content Type	Text
Resource Type	Article

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