1. Adaptive control for car like vehicles guidance relying on RTK GPS: rejection of sliding effects in agricultural applications
- Author
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Philippe Martinet, Christophe Cariou, Benoit Thuilot, Roland Lenain, Technologies et systèmes d'information pour les agrosystèmes (UR TSCF), Institut national de recherche en sciences et technologies pour l'environnement et l'agriculture (IRSTEA), Centre national du machinisme agricole, du génie rural, des eaux et forêts (CEMAGREF), Laboratoire des sciences et matériaux pour l'électronique et d'automatique (LASMEA), and Université Blaise Pascal - Clermont-Ferrand 2 (UBP)-Centre National de la Recherche Scientifique (CNRS)
- Subjects
Scheme (programming language) ,0209 industrial biotechnology ,Engineering ,Adaptive control ,business.industry ,Control (management) ,Mobile robot ,Control engineering ,02 engineering and technology ,Field (computer science) ,[SPI.AUTO]Engineering Sciences [physics]/Automatic ,020901 industrial engineering & automation ,Real Time Kinematic ,0202 electrical engineering, electronic engineering, information engineering ,Global Positioning System ,020201 artificial intelligence & image processing ,Motion planning ,business ,computer ,ComputingMilieux_MISCELLANEOUS ,computer.programming_language - Abstract
Numerous agricultural applications require very accurate guidance of farm vehicles. Current works have established that RTK GPS was a very suitable sensor in order to meet the expected precision: several control laws have been designed for vehicles equipped with such a sensor, and satisfactory results have been achieved as long as vehicles do not slide. Nevertheless, in actual working conditions (sloping fields, entering into curves on a wet land, etc.), sliding inevitably occurs. In this paper, we design a nonlinear adaptive control law in order to preserve guidance precision in presence of sliding: realtime sliding estimation is used to correct vehicle evolution. Field experiments, demonstrating the capabilities of that control scheme are reported and discussed.
- Published
- 2003