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Volume 12 Issue 2

Autonomous Vehicle Control, Part XV: Farm Tractor Yaw RateControl using I-first order, Feedforward 2/2 Second-orderCompensators and PD-I, PD-PI Controllers compared with a P Controller

Alt Text: Autonomous Vehicle Control, Part XV
Title: Autonomous Vehicle Control, Part XV: Farm Tractor Yaw Rate Control
Caption: Control of autonomous vehicles using various controllers
Description: This paper presents the control of the yaw rate of a farm tractor using different compensators and controllers.

International Journal of Computer Techniques – Volume 12 Issue 2, 2025

Galal Ali Hassaan
Department of Mechanical Design and Production, Faculty of Engineering, Cairo University, Egypt
Email: galalhassaan@ymail.com

Abstract

This paper is the fifteenth in a series of research papers presenting the control of autonomous vehicles. It handles the control of the yaw rate of a farm tractor using an I-first order, feedforward 2/2 second-order compensators, PD-I and PD-PI controllers from the second generation of PID controllers compared with a P controller from the first generation of PID controllers. Some efficient tuning techniques for the proposed compensators/controllers are applied with relevant performance indices. The step time response of the control system using the four investigated compensators/controllers is presented and compared and the time-based characteristics are extracted and compared. The comparison reveals the best compensator/controller among the four ones presented depending on a graphical and quantitative comparison study for reference input tracking.

Keywords

Autonomous control, farm tractor yaw rate control, I-first order compensator, 2/2 second-order compensator, PD-I controller, PD-PI controller, controller tuning.

References

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How to Cite

Galal Ali Hassaan, “Autonomous Vehicle Control, Part XV: Farm Tractor Yaw Rate Control using I-first order, Feedforward 2/2 Second-order Compensators and PD-I, PD-PI Controllers compared with a P Controller,” International Journal of Computer Techniques, Volume 12, Issue 2, 2025. ISSN 2394-2231

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