Adaptive modeling and control of a manure spreader for precision agriculture

Authors:
Manu Krishnan;Christopher A. Foster;Richard P. Strosser;James L. Glancey;Jian-Qiao Sun
Affiliations:
Department of Mechanical Engineering, University of Delaware, Newark, DE 19716, United States;Department of Mechanical Engineering, University of Delaware, Newark, DE 19716, United States;CNH America LLC, 500 Diller Ave., New Holland, PA 17557, United States;Department of Mechanical Engineering, University of Delaware, Newark, DE 19716, United States;Department of Mechanical Engineering, University of Delaware, Newark, DE 19716, United States
Venue:
Computers and Electronics in Agriculture
Year:
2006

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Automatica (Journal of IFAC)

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Abstract

This paper describes a general modeling and control approach for automating various agricultural machines for precision farming applications. Experimental validation of control designs was performed on a modified New Holland manure spreader. An adaptive numerical modeling approach for describing the system input-output dynamics is proposed, and an optimal control that accounts for the control hardware limits is developed. Field tests have demonstrated the effectiveness of the theoretical development.