Improvement of Linear Tracking Response of Two-Degree-of-Freedom Control of Discrete-Valued Driven Crawler
H. Yamada, Y. Chida, Masaya TANEMURA · IFAC-PapersOnLine · 2023
To enable autonomous driving, the linear tracking control of on–off driven crawler vehicles, which are often used in agriculture, must be optimized. This paper presents a linear tracking control method for a discrete-value-driven crawler. Control laws based on feedback control are proposed for tracking control of discrete-valued driven crawler vehicles. Herein, we design a two-degree-of-freedom control system with feedforward for a discrete-value-driven crawler to improve tracking performance while reducing computational cost. The proposed method converts a continuous-valued input, determined using a two-degree-of-freedom control law, into a discrete-valued input based on a quadratic formal evaluation function. The effectiveness of the proposed method was verified through numerical simulations. As a result, we confirmed that the proposed method improves the tracking performance while reducing the computational complexity. This study made it possible to design a two-degree-of-freedom control system in discrete-valued input systems.