Purbowaskito, Widagdo and Telaumbanua, Mareli (2019) Simulation Study of Kalman-Bucy filter Based Optimal Yaw Rate Control System for Autonomous Tractor. Simulation Study of Kalman-Bucy filter Based Optimal Yaw Rate Control System for Autonomous Tractor, 355 (2019). pp. 1-8.

[img] Text
Purbowaskito_2019_IOP_Conf._Ser.%3A_Earth_Environ._Sci._355_012102.pdf

Download (1MB)
Official URL: https://iopscience.iop.org/article/10.1088/1755-13...

Abstract

Unstructured agricultural field environment and varying jobs need to be done by a tractor bring the autonomous tractor subjected into the changes of its system dynamics. Due to this condition, development of autonomous tractor yaw rate dynamics control system is a challenging study. An observer based optimal controller is employed to control the autonomous tractor yaw rate dynamics control system in this simulation study. Linear quadratic regulator (LQR) is used as the optimal control algorithm, while the Kalman-Bucy filter is used as the state observer of the autonomous tractor. This Kalman based LQR method works by combination of optimization and state estimation approaches. Based on the proposed method, the LQR controller provides satisfactory yaw rate controller results. The yaw rate estimation error which is ranged at ± 0.05 deg/sec proves that Kalman-Bucy filter provides satisfactory estimation results.

Item Type: Article
Subjects: T Technology > TJ Mechanical engineering and machinery
Divisions: Fakultas Pertanian (FP) > Prodi Teknik Pertanian
Depositing User: Dr Mareli Telaumbanua
Date Deposited: 01 Jun 2020 00:54
Last Modified: 01 Jun 2020 00:54
URI: http://repository.lppm.unila.ac.id/id/eprint/21311

Actions (login required)

View Item View Item