Height and Angle Control of an Automatic Harvester for Head Forming Vegetables

-Height Control of a Harvest Unit-

Abstract

In the present paper, an automatic harvesting problem of head forming vegetables is discussed. A testbed model of an automatic harvester which has two-degrees of freedom mechanism such as the height control and the angle control is developed. In the present paper, modeling and control design for the height control is discussed. A model for the control design is obtained by the system identification technique and a two-degrees-of-freedom control is designed. Control performances are verified by experimental tests in fields.