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

Juha Backman; Timo Oksanen; Arto Visala

doi:10.3182/20110828-6-IT-1002.00601

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

Juha Backman, Timo Oksanen, Arto Visala

Helsinki University of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

6 Scopus citations

Abstract

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 language	English
Title of host publication	Proceedings of the 18th IFAC World Congress
Publisher	IFAC Secretariat
Pages	2912-2918
Number of pages	7
Edition	1 PART 1
ISBN (Print)	9783902661937
DOIs	https://doi.org/10.3182/20110828-6-IT-1002.00601
State	Published - 2011
Externally published	Yes

Publication series

Name	IFAC Proceedings Volumes (IFAC-PapersOnline)
Number	1 PART 1
Volume	44
ISSN (Print)	1474-6670

Keywords

Guidance system
Navigation
Trajectory following
Tuning

Access to Document

10.3182/20110828-6-IT-1002.00601

Cite this

@inproceedings{2914934d3b57464ea3d50706c424b323,

title = "Semi-automatic tuning of NMPC based trajectory control system in agricultural machine",

abstract = "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.",

keywords = "Guidance system, Navigation, Trajectory following, Tuning",

author = "Juha Backman and Timo Oksanen and Arto Visala",

year = "2011",

doi = "10.3182/20110828-6-IT-1002.00601",

language = "English",

isbn = "9783902661937",

series = "IFAC Proceedings Volumes (IFAC-PapersOnline)",

publisher = "IFAC Secretariat",

number = "1 PART 1",

pages = "2912--2918",

booktitle = "Proceedings of the 18th IFAC World Congress",

edition = "1 PART 1",

}

Semi-automatic tuning of NMPC based trajectory control system in agricultural machine. / Backman, Juha; Oksanen, Timo; Visala, Arto.
Proceedings of the 18th IFAC World Congress. 1 PART 1. ed. IFAC Secretariat, 2011. p. 2912-2918 (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 44, No. 1 PART 1).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Semi-automatic tuning of NMPC based trajectory control system in agricultural machine

AU - Backman, Juha

AU - Oksanen, Timo

AU - Visala, Arto

PY - 2011

Y1 - 2011

N2 - 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.

AB - 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.

KW - Guidance system

KW - Navigation

KW - Trajectory following

KW - Tuning

UR - http://www.scopus.com/inward/record.url?scp=84866756389&partnerID=8YFLogxK

U2 - 10.3182/20110828-6-IT-1002.00601

DO - 10.3182/20110828-6-IT-1002.00601

M3 - Conference contribution

AN - SCOPUS:84866756389

SN - 9783902661937

T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)

SP - 2912

EP - 2918

BT - Proceedings of the 18th IFAC World Congress

PB - IFAC Secretariat

ER -

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

Abstract

Publication series

Keywords

Access to Document

Other files and links

Fingerprint

Cite this