Adaptive steering control of a farm tractor with varying yaw rate properties

@article{Derrick2009AdaptiveSC,
  title={Adaptive steering control of a farm tractor with varying yaw rate properties},
  author={J. Benton Derrick and David M. Bevly},
  journal={J. Field Robotics},
  year={2009},
  volume={26},
  pages={519-536}
}
This paper presents a novel application of a model reference adaptive control (MRAC) system to control the lateral position of a farm tractor tracking a straight path. Farm tractors can be configured with various implements, and the tractor yaw rate dynamics vary with each implement. It is desired that the lateral position response of the farm tractor remain consistent with respect to different implement configurations. Therefore, a MRAC system is implemented on the farm tractor to compensate… CONTINUE READING

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