Adaptive Control of Electrohydraulic Steering System for Wheel-Type Agricultural Tractors

This paper presents an adaptive steering controller for achieving consistent, sensitive, and accurate steering control with noisy and drifting control signals on an automated agricultural tractor. Conventional model-based PID controller is difficult to solve this problem because of too many disturbances and unknown factors. The authors have developed an adaptive steering controller consisting of an adaptive Kalman filter and an adaptive nonlinearity compensator for attenuating the effects of those disturbances and unknown factors. Both simulation and test results indicated that the method of using an adaptive Kalman filter and an adaptive gain compensator is an effective steering controller design approach for solve the programs generated by the noisy and drifting control signals such as tractor automated steering control.