Semi-automatic Tuning of NMPC Based Trajectory Control System in Agricultural Machine
نویسندگان
چکیده
Currently, the most advanced method to realize trajectory control is to use Nonlinear Model Predictive Control (NMPC). The NMPC also needs an accurate estimate of the state of the controlled system. An Extended Kalman filter (EKF) is the best choice to realize the state estimation. Normally the tuning of these methods requires high expertise from the control engineer as well as knowledge of the controlled system. With the methods proposed in this paper, the tuning phase of the control system can be automated. The proposed methods were tested with a simulator and a full scale agricultural machine with an experimental control system. The methods did not give absolutely correct parameters values, but sufficiently good for EKF and NMPC to work properly.
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تاریخ انتشار 2011