Essentials of Mechatronics ISBN:
0-471-72341-X- ©John Billingsley 2006 - published
John Wiley & Sons, Inc
13/2/2.htm Nonlinear steering
The first simulation shows a tractor with a lited hydraulic steering
slew rate.
The steering is based on linear control.
For small disturbances all is well, but when you select 0.3m you will
see that it is in serious trouble.
Run Steersim.bas or Steersim.htm
When the control algorithm contains constraints on the demanded angle
and steering angle, the response is good even from a disturbance of 1m.
Run Steerlim.bas or Steerlim.htm
Be sure to inspect the code and make some modifications.