<title>Control of an electrohydraulic steering system using a PID controller with a nonlinear compensation algorithm</title>

Abstract

Hydraulic steering control system is widely used on varieties of vehicles. This paper presents the application of a proportional-integral-derivative (PID) controller with a non-linear compensation algorithm to control an electrohydraulic (E/H) steering system on an agricultural vehicle. In this controller, the non-linear compensation algorithm was used to compensate for the system deadband and saturation of the electrohydraulic steering system and the PID loop was used to minimize the tracking error in steering control. The controller was tested on a Deere 8200 tractor driving on both cement pavement and farm fields. The test results indicate that the nonlinearity compensated PID controller performed well on agricultural vehicle steering control.