Online adaptive observer for rollover avoidance of reconfigurable agricultural vehicles
详细信息 查看全文
- 作者：Dieumet Denisa ; b ; dieumet.denis@univ-bpclermont.fr" class="auth_mail" title="E-mail the corresponding author ; Benoit Thuilota ; b ; benoit.thuilot@univ-bpclermont.fr" class="auth_mail" title="E-mail the corresponding author ; Roland Lenainc ; roland.lenain@irstea.fr" class="auth_mail" title="E-mail the corresponding author
- 关键词：Robotics in agriculture ; Hydraulic actuators ; Active security devices ; Rollover ; Dynamics ; Grape harvester
- 刊名：Computers and Electronics in Agriculture
- 出版年：2016
- 出版时间：August 2016
- 年：2016
- 卷：126
- 期：Complete
- 页码：32-43
- 全文大小：3206 K
文摘
- •
Rollover risk is assessed from a standard and low-cost vehicle sensing equipment.
- •
The immediate evolution of the risk is inferred from an online adapted dynamic model.
- •
Grip conditions and soil inclination are updated by means of nonlinear observers.
- •
Reconfigurations in vehicle mass/geometry are tracked from optimization techniques.
- •
Full-scale experiments with a grape harvester demonstrate the algorithm capabilities.