@inproceedings{bevly_yaw_2000,
	address = {Orlando, Florida, USA},
	title = {Yaw {Dynamic} {Modeling} for {Improved} {High} {Speed} {Control} of a {Farm} {Tractor}},
	isbn = {978-0-7918-2664-5},
	url = {https://asmedigitalcollection.asme.org/IMECE/proceedings/IMECE2000/26645/551/1126579},
	doi = {10.1115/IMECE2000-2347},
	abstract = {Abstract 
            This paper presents the system identification of a farm tractor in order to improve automatic control at higher speeds and understand controller limitations from neglecting the yaw dynamics. Yaw dynamic models are developed for multiple speeds to show the effect of velocity on the model. The identified modeled yaw dynamics do not resemble any traditional analytical models. Additionally, the effect of velocity on the closed loop bandwidth of the controller for a given set of LQR controller weights is presented. Results are given that validate that as the closed loop bandwidth of LQR control weights approaches the regime of the unmodelled yaw dynamics, the controller can go unstable. Finally results show an improvement of the lateral tracking error (with a decrease in control effort) using the system identification model.},
	urldate = {2024-06-20},
	booktitle = {Dynamic {Systems} and {Control}: {Volume} 1},
	publisher = {American Society of Mechanical Engineers},
	author = {Bevly, David M. and Gerdes, J. Christian and Parkinson, Bradford W.},
	month = nov,
	year = {2000},
	pages = {551--557},
}

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