Journal
ADVANCES IN DIFFERENCE EQUATIONS
Volume 2020, Issue 1, Pages -Publisher
SPRINGER
DOI: 10.1186/s13662-020-03158-y
Keywords
Agricultural rover; Vibration; Long arm; Backstepping control
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Funding
- Research Seed Grant for New Lecturer, KMITL Research Fund, King Mongkut's Institute of Technology Ladkrabang, Thailand
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This paper presents the development of the simplified modelling and control of a long arm system for an agricultural rover, which also extends the modelling methodology from the previous work. The methodology initially assumes a flexible model and, through the use of the integral-based parameter identification method, the identified parameters are then correlated to an energy function to allow a construction of the friction induced nonlinear vibration model. To also capture the effect of the time delay, a delay model was also considered in the form of a second order delay differential equation. Both families of models were applied to identify and characterise a specialised long arm system. The nonlinear model was found to give significant improvement over the standard linear model in data fitting, which was further enhanced by the addition of the time delay consideration. A backstepping controller was also designed for both model families. Results show that the delay model expends less control efforts than the lesser non-delay model.
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