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TECHNICAL PAPERS

A New Yaw Dynamic Model for Improved High Speed Control of a Farm Tractor

[+] Author and Article Information
David M. Bevly, J. Christian Gerdes

Department of Mechanical Engineering, Stanford University, Stanford, CA 94305

Bradford W. Parkinson

Department of Aeronautics and Astronautics, Stanford University, Stanford, CA 94305

J. Dyn. Sys., Meas., Control 124(4), 659-667 (Dec 16, 2002) (9 pages) doi:10.1115/1.1515329 History: Received June 01, 2001; Revised March 01, 2002; Online December 16, 2002
Copyright © 2002 by ASME
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References

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Figures

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GPS guided farm tractor
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Schematic model of a tractor
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Spectral analysis and Box-Jenkins second order fit of the input (δ) to output (r) data
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Model errors versus system identified model order
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Model versus actual (actual–solid line) yaw rate for various model fits
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System identified frequency response versus velocity for Vx=2, 4, 6 and 8 m/s
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Frequency response for an analytical model with tire relaxation lengths versus velocity for Vx=2, 4, 6, and 8 m/s
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Frequency response comparison of the FTR and system identified model at Vx=2, 5, and 8 m/s with single rear wheels
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Dominant second order pole locations versus velocity for the FTR and bicycle models
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Pole-zero plot of various models at 4 m/s (regular) and 8 m/s (bold)
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FTR and system identified parameters versus velocity with single rear wheels
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FTR and system identified parameters versus velocity with dual rear wheels
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Frequency response comparison of the FTR and system identified model at Vx=2, 5, and 8 m/s with dual rear wheels
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Closed loop bandwidth using LQR
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Experimental run using kinematic model
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Experimental run using neutral steer model
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Experimental run using system identified model
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Experimental run using system identified model at 7 m/s

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