Gyro feedback of a hydraulic steering system
2011 (English)In: International Journal of Vehicle Autonomous Systems, ISSN 1471-0226, E-ISSN 1741-5306, Vol. 9, no 3/4, 189-202 p.Article in journal (Refereed) Published
We study the problem to steer, teleoperated as well as autonomously, a tractor that is to operate on a rough and slippery surface. The main idea is to control the effective steering angle of the vehicle. A benefit with this approach is that the vehicle will strive to move in a predefined way irrespective of the surface conditions. To test if the approach is usable we implemented a straight forward p-controller in combination with an estimator of the effective steering angle of the tractor. Our tests indicates that the approach can be useful. Future work would include studies on more advanced control strategies and estimators to reduce some of the problems that we address.
Place, publisher, year, edition, pages
2011. Vol. 9, no 3/4, 189-202 p.
Research subject Industrial Electronics; Control Engineering
IdentifiersURN: urn:nbn:se:ltu:diva-13959DOI: 10.1504/IJVAS.2011.041384Local ID: d46f9b7a-1e22-4177-84f0-6349ee576ca1OAI: oai:DiVA.org:ltu-13959DiVA: diva2:986912
ProjectsOptimerad framkomlighet för tunga terrängfordon
Validerad; 2011; 20110627 (ulfand)2016-09-292016-09-292016-10-19Bibliographically approved