Abstract
In this paper, a side force attenuation is proposed for unmanned agricultural vehicles. First, a new energy based formula of the side force is derived from dynamics which is neglected in the popular magic formula or conventional kinematic equations. Second, a new side force attenuation method is proposed based on the energy based formula. Third a new disturbance rejection method is proposed based on passivity. Finally, the validity of the proposed methods is confirmed by numarical simulations. By the proposed method, the side force are attenuated without loosing stability. Furthermore the closed-loop system does not require any trajectory references and keeps a physical structure.
