scholarly journals Headland Turning Control Method Simulation of Autonomous Agricultural Machine Based on Improved Pure Pursuit Model

2010 ◽  
pp. 176-184 ◽  
Author(s):  
Peichen Huang ◽  
Xiwen Luo ◽  
Zhigang Zhang
Keyword(s):  
Control Method ◽  
Agricultural Machine ◽  
Pure Pursuit ◽  
Turning Control

scholarly journals Climbing and Turning Control of a Biped Passive Walker by Periodic Input Based on Frequency Entrainment

2011 ◽  
Vol 2-3 ◽  
pp. 48-52 ◽  
Author(s):  
Soichiro Suzuki ◽  
Ying Cao ◽  
Masamichi Takada ◽  
Kentaro Oi
Keyword(s):  
Control Method ◽  
Three Dimensional ◽  
Frontal Plane ◽  
The Novel ◽  
Mechanical Oscillator ◽  
Frequency Entrainment ◽  
Periodic Input ◽  
Target Path ◽  
Turning Control

This study is aimed at stabilizing a three dimensional biped passive walker in various environments and achieving climbing and turning control. The novel control method synchronizes a period of the changing motion of the stance leg in frontal plane (frontal motion) with a period of the swing leg by periodic input in order to stabilize the three dimensional passive walker. A mechanical oscillator is utilized to change the period of the frontal motion. The target path of the oscillator is automatically generated based on frequency entrainment in order to adjust the period of the frontal motion. In the climbing and turning control of the passive walker, the amplitude and the phase generating algorithm of the target path of the oscillator are improved. It is analytically demonstrated that the biped passive walker can be stabilized even in climbing and turning.

Development of Turning Control Method for a Paddy Weeding Robot

2019 ◽  
Vol 2019 (0) ◽  
pp. 1A1-D06
Author(s):  
Hitoshi SORI ◽  
Hiroyuki INOUE ◽  
Kazunori HOSOTANI ◽  
Manabu KATO ◽  
Shiro URUSHIHARA ◽  
...  
Keyword(s):  
Control Method ◽  
Turning Control

Smith Prediction Based on Genetic Algorithm Self-Tuning PID Control

2014 ◽  
Vol 602-605 ◽  
pp. 1186-1189
Author(s):  
Dong Sheng Wu ◽  
Qing Yang
Keyword(s):  
Genetic Algorithm ◽  
Time Delay ◽  
Pid Control ◽  
Pid Controller ◽  
Control Method ◽  
Delay System ◽  
Time Delay System ◽  
Self Tuning ◽  
On Line ◽  
Turning Control

Aiming at the phenomena of big time delay are normally existing in industry control, this paper proposes an intelligent GA-Smith-PID control method based on genetic algorithm and Smith predictive compensation algorithm and traditional PID controller. This method uses the ability of on line-study, a self-turning control strategy of GA, and better control of Smith predictive compensation to deal with the big time delay. This method overcomes the limitation of traditional PID control effectively, and improves the system’s robustness and self-adaptability, and gets satisfactory control to deal with the big time delay system.

Automated Steering Control System for Reverse Parking Maneuver of Semi-Trailer Vehicles Considering Motion Planning by Simulation of Feedback Control System

2020 ◽  
Vol 32 (3) ◽  
pp. 561-570
Author(s):  
Yutaka Hamaguchi ◽  
Pongsathorn Raksincharoensak ◽  
◽  
Keyword(s):  
Control System ◽  
Control Method ◽  
Load Capacity ◽  
Maximum Load ◽  
Path Tracking ◽  
Steering Control ◽  
Driving Skills ◽  
Pure Pursuit ◽  
Large Maximum ◽  
Road Freight Transportation

With the increase in the demand for road freight transportation, semi-trailers are being increasingly preferedowing to their large maximum load capacity. However, for such vehicles, excellent driving skills are required because unique steering is often necessary during reverse parking. In this paper, the concept of a parking assist system and path tracking controller is proposed. The control system consists of a pure pursuit motion planner for handling the reference path tracking and a feedback controller for stabilizing the hitch angles. We propose a control method to realize the ideal control performance of an actual vehicle subjected to unmeasured disturbance. An actual full-scale vehicle experiment is conducted and the effectiveness of the proposed approach is verified by evaluating the error from the target parking position.

scholarly journals A robust H∞-based steering assistance system for the wheeled tractor

2021 ◽  
Vol 104 (4) ◽  
pp. 003685042110537
Author(s):  
Cheng Shen ◽  
Suming Liang ◽  
Jinhao Liang ◽  
Guodong Yin
Keyword(s):  
Control Method ◽  
Mental Workload ◽  
Field Tests ◽  
Path Tracking ◽  
Assistance System ◽  
Pole Placement ◽  
Driver Model ◽  
Model Parameters ◽  
Technology System ◽  
Agricultural Machine

Agricultural machine automatic navigation poses great challenge to the precise agricultural technology system nowadays. To this end, this paper proposes a novel steering assistance system (SAS) to assist drivers in the path-tracking. First, the driver steering model is investigated through the driver simulator tests. Combining the wheeled tractor kinematics model, a driver-vehicle model is developed. Then, a polytopic linear parameter-varying (LPV) system is adopted to describe the uncertainties, including time-varying driver model parameters and velocity, in the model, based on which an output-feedback robust controller is developed to ensure robust stability within the polytope space. Moreover, a regional pole placement method is adopted to improve the transient performance of the system. Finally, driver-in-the-loop and field tests conducted to value the controller. The results show the effectiveness of the proposed method to improve the path-tracking performance for the agricultural machine navigation, while reducing the physical and mental workload of drivers. This control method is expected to be a paradigm for the precise navigation system of the agricultural machinery.

A distributed access control method for wireless LANs in shadowing environments

2001 ◽  
Vol 84 (9) ◽  
pp. 16-26
Author(s):  
Tadao Saito ◽  
Hitoshi Aida ◽  
Terumasa Aoki ◽  
Soichiro Hidaka ◽  
Tredej Toranawigtrai ◽  
...  
Keyword(s):  
Access Control ◽  
Control Method ◽  
Wireless Lans ◽  
Distributed Access Control
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