Semi-automatic tuning of NMPC based trajectory control system in agricultural machine

Juha Backman, Timo Oksanen, Arto Visala

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

6 Scopus citations


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.

Original languageEnglish
Title of host publicationProceedings of the 18th IFAC World Congress
PublisherIFAC Secretariat
Number of pages7
Edition1 PART 1
ISBN (Print)9783902661937
StatePublished - 2011
Externally publishedYes

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
Number1 PART 1
ISSN (Print)1474-6670


  • Guidance system
  • Navigation
  • Trajectory following
  • Tuning


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