Two Control Laws for a Spray System with Time Varying Delay and Dead Band
| Authors: | Anthonis Jan, K.U.Leuven, Belgium
Franssens Wouter, K.U.Leuven, Belgium
Seuret Alexandre, LAGIS Ecole Centrale de Lille, France
Richard Jean-Pierre, LAGIS Ecole Centrale de Lille, France
Ramon Herman, K.U.Leuven, Belgium |
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| Topic: | 8.1 Control in Agriculture |
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| Session: | Mechatronics in Agriculture |
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| Keywords: | Dead band, Time-varying delay, Sliding mode control, Stability,LMI |
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Abstract
Two control laws, to control the liquid pressure of anagricultural spray boom are presented and compared. Characteristicfor the process is a dead zone and a time varying delay. The firstcontrol law is rather intuitive and is based on direct dead zonecompensation and a pole placement idea. The other control laworiginates from sliding mode control where the continuous part ofthe control contains some compensation dynamics, assuringstability. Both control laws are compared and tested in practice.
