Model free adaptive iterative learning control for farm vehicle path tracking

Key Words:Two term control systems;Intelligent control - Iterative methods - Kinematics - Learning algorithms - Seed - Vehicles;Adaptive iterative learning control - Discrete-time model - Farm vehicles - Kinematic model - Linearization model - Model free - Path tracking

Abstract:Duo to the periodicity of farm cropping, harvesting, seeding and spraying, a discrete time model free adaptive iterative learning control (MFAILC) algorithm for path tracking of farm vehicle is proposed. Based on the dynamical form linearization model for farm vehicle kinematic model l, the MFAILC algorithm can be designed just depending on the I/O data of the farm vehicle. The proposed method also can compensate the effect of initial shifting to preserve a perfect tracking. Simulations results illustrate the validity of the proposed methods. Copyright &copy; 2013 IFAC.<br/>

Volume:3

Issue:PART 1

Translation or Not:no