Model-following control system for four-wheel steering farm vehicle (Part 2) - construction of observer for side velocity by suing extended Kalman filter and Kalman filter

摘要

To construct Model-following control system for automatic steering, side velocity of the vehicle must be estimated. For this purpose, representative cornering powers were estimated by using Extended Kalman Filter algorithm. Side velocity observer based on the estimated values was constructed by using Kalman Filter algorithm. Results examined by computer simulation prove that the method is effective. Experiments to estimate the representative cornering powers were done on a concrete road and, tilled and puddled fields. In the experiments, the representative values are measured.