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By combining visual preview kinematics, dynamic equation of steering system and 2-DOF steering dynamistic model of 4WS, we establish the two degree of freedom model of four-wheel steering vehicle. And then the switching hyper plane is designed by applying the optimal control theory. During the change of parameter is little, 4WS steering performance is carried out by adopting sliding variable structure...
State observer design is one of key technologies in research field of intelligent vehicle. Experiment platform, visual guidance intelligent vehicle JLUIV-5, is established by Jilin University Intelligent Vehicle Group firstly. The system structure and assistant navigation control system, and different image identify algorithms to recognize preview path and stops for variable illuminations are introduced...
The guiding principle and composition of CyberCar based on machine vision was introduced. Applying IM sequence signals as input response signals and least squares method to establish the dynamic equation for CyberCar steering system by system identification experiments firstly, and then combined with the preview kinematics model and two-degree steering dynamic model of vehicle. Therefore, the steering...
Establish the two degree of freedom model of four-wheel steering vehicle. A H2 optimal controller and Kalman filter is designed when the control mathematics model is certainty. Aim at the parameter uncertainty of tire, a four-wheel vehicle steering system uncertain model was founded and analyzed. A Hinfin optimal controller is designed with the method of Hinfin control theory to solve the problem...
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