This paper presents the development of the simplified modelling and control of a long arm system for an agricultural rover, which also extends the modelling methodology from the previous work. The methodology initially assumes a flexible model and, through the use of the integral-based parameter identification method, the identified parameters are then correlated to an energy function to allow a construction of the friction induced nonlinear vibration model. To also capture the effect of the time delay, a delay model was also considered in the form of a second order delay differential equation. Both families of models were applied to identify and characterise a specialised long arm system. The nonlinear model was found to give significant improvement over the standard linear model in data fitting, which was further enhanced by the addition of the time delay consideration. A backstepping controller was also designed for both model families. Results show that the delay model expends less control efforts than the lesser non-delay model.

本文介绍了用于农业漫游车的长臂系统的简化建模和控制的发展，这也扩展了先前工作的建模方法。该方法最初假设一个灵活的模型，然后通过使用基于积分的参数识别方法，将识别出的参数与能量函数相关联，以构建摩擦感应非线性振动模型。为了也捕获时间延迟的影响，还考虑了二阶延迟微分方程形式的延迟模型。这两个模型家族都用于识别和表征专门的长臂系统。发现非线性模型在数据拟合方面比标准线性模型有显着改善，通过增加时间延迟考虑，该功能得到了进一步增强。还为两个模型系列设计了一个后推控​​制器。结果表明，与较小的非延迟模型相比，延迟模型花费的控制工作更少。