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This book is not a revised edition of the author's previous book ["Nonlinear Systems, 3rd ed., 2001) but rather a new book organized and focused on the material most pertinent to developing an understanding of nonlinear control. The first half of the book provides a solid foundation for understanding and analyzing nonlinear systems, but many of the more abstract concepts, such as the comparison...
One of the concerns in vehicle steering controls regards how to manipulate a vehicle to follow a designated path accurately. Generally, this issue is usually solved by linear or nonlinear control techniques based exclusively on vehicle kinematics or on a solution that partially combines dynamics. In this paper, an integral robust multi-tiered model-based vehicle steering control strategy is proposed...
In this paper we propose a multi-tiered full-size road vehicle steering controller that simultaneously considers kinematics and dynamics. The kinematic controller embeds a surface for converging to the desired path that is tuned based upon vehicle capability in order to provide robust yaw rate references commands. The dynamic controller then establishes a sliding surface for yaw rate error convergence...
In this paper we propose a multi-tiered full-size road vehicle steering controller that simultaneously considers kinematics and dynamics. The kinematic controller embeds a surface for converging to the desired path that is tuned based upon vehicle capability in order to provide robust yaw rate reference commands. The dynamic controller then establishes a sliding surface for yaw rate error convergence...
Backing of tractor-trailer systems is a problem addressed in many literatures. It is usually solved using various nonlinear-based control methods, which are often not easy to implement or tune. Similar to other work focused on backing a single axle trailer with a car like vehicle, we propose a two-tier controller that is simple and intuitive. However, ours is based upon curvature as opposed to hitch...
Traction estimation and control, common in the automotive industry, have yet to be extended to human bipedal motion. This paper presents a novel metric for slip and traction optimization using the partial derivative of a traction force estimate to slip velocity. The metric is verified computationally using an existing dynamic mode and experimentally using a multi-camera motion capture system.
This paper presents a kinematic motion control strategy for a multiple-axle compliant framed modular wheeled mobile robot. A decentralized master-slave type control scheme is proposed here to solve motion control problems (posture regulation, path following, and trajectory tracking) of the n-axle robot. The controller considers physical constraints on the path curvature, wheel velocity, and traction...
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