Adaptive control for car like vehicles guidance relying on RTK GPS: rejection of sliding effects in agricultural applications
Numerous agricultural applications require very accurate guidance of farm vehicles. Current works have established that RTK GPS was a very suitable sensor in order to meet the expected precision: several control laws have been designed for vehicles equipped with such a sensor, and satisfactory results have been achieved as long as vehicles do not slide. Nevertheless, in actual working conditions (sloping fields, entering into curves on a wet land, etc.), sliding inevitably occurs. In this paper, we design a nonlinear adaptive control law in order to preserve guidance precision in presence of sliding: realtime sliding estimation is used to correct vehicle evolution. Field experiments, demonstrating the capabilities of that control scheme are reported and discussed.
A new estimator for a four-element plane array is introduced in order to get acoustic-passive direction estimation of targets.We concern much about the performance of the estimator under a two-target situation.In this paper,the two targets concerned are of the same type of acoustic source.Under different signal to interfere ratios,we propose the change of the precision of the direction estimation as the angle between the two targets changes.Our study was done under the real time Warfield situation,and may help the design of small acoustic-passive direction estimation arrays.