Approach to Model-following Control System for Farm Vehicle (Part 2)

Design of Control System and Examination of Its Performance on Movement Simulation of the Vehicle

Abstract

In the model identified in Part 1, non-linearity and fluctuation of cornering force is managed as perturbation of cornering power that is a parameter with a bounded time-varying uncertainty. Design problem of model-following control system for the results of system identification in Part 1 is solved as the constantly scaled H_∞ control state-feedback problem. Examination of the control performance on the simulation suggested that the model-following control system is useful. The model-following control system makes likable changes of the vehicle dynamics and restraint of its fluctuation due to characteristic between tires and soil, possible. So, the model-following system and these approched methods are considered useful for improvement of handling and stability of a farm vehicle.