Identification of the Steering and Speed Systems of a Four-Wheel-Steering Tractor for Optimal Control

Abstract

Model-based control design requires sufficiently accurate model of the system-to-be-controlled. This paper addresses the system identification of steering and speed control of a four-wheel-steering agricultural tractor for the purpose of developing path tracking control. To this end, we investigate the steering and speed control systems of the tractor. These are complex systems with digital, mechatronic, and hydraulic components challenging to model based on first principles. We take a data-driven approach to estimating the system models. The resulting model combines the kinematic model of the vehicle, actuators modelled as first-order systems, and estimated values for time constants and transport delays.