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Electronic Stability Control (ESC) is one of the most effective methods of controlling the Yaw moment in vehicles. This method is based on unequal distribution of tire forces (mainly braking forces) and is particularly effective when tire behavior is in nonlinear zone and loses its sensitivity to the steering input. While different approaches for evaluating the adequate Yaw moment have been developed,...
Traditional active safety systems in automotive industry use the vehicle current state and additional optional measurements to plan their intervention. In general, the computation of the most convenient action to undertake in order to guarantee a safe driving is performed without any reference to what the optimal maneuver, predicted on the basis of the vehicle current state and future road geometry/conditions,...
This paper presents an optimal kinematic controller design based on ant colony optimization (ACO) computing method for omnidirectional mobile robots with three independent driving wheels equally spaced at 120 degrees from one another. The optimal control parameters are obtained by minimizing the performance index using the proposed ACO computing method. These optimal parameters are used in the ACO-based...
A direct yaw moment control (DYC) method based on optimal and predictive control is proposed in this paper. The 8-degree-of-freedom model of electric vehicle and the non-linear Unitire model have been developed. The simulation results verified the validity of control strategy. The control method of electric vehicle put forward in this paper can reduce the control energy in case of satisfying the control...
Two-wheeled mobile manipulator systems have many advantages compared to the statically stable systems. Due to the highly nonlinear underactuated structure (more degrees of freedom than the number of actuators), it is difficult to control the motion of wheels and stability of underactuated joint at the same time by wheels. In this paper, we deal with motion control of the wheels through CoG (Center...
A purpose of this study is analyzing a human's controller to understand a mechanism of skill acquation processes for riding a unicycle. In order to analyze the controller, inputs which an operator gives to the unicycle and states of the unicycle are measured and a human-unicycle model as same as the experiment is derived. A weighting matrix to the state is obtained from the states, the inputs and...
The behavior control method was usually adapted for controlling the suspension configuration which determines the traversability of the UGV with actively articulated suspension. In this paper, we proposed a method of configuration planning of the suspension without any detail geometric data of terrain. The terrain was estimated by the traces of each wheel and the behavior plans for the desired upper...
For optimal vehicle yaw stability control system development, inclusion of driver dynamics seems necessary. In this paper, a novel design approach is proposed for developing optimal solutions to vehicle stability control problems in the presence of the driver-in-the-loop steering models. The design concept is inspired by a Nash strategy for exactly known systems with more than two players. In the...
In this paper, four-wheel active steering (4WAS), which can control the front wheel steering angle and rear wheel steering angle independently, has been investigated based on the analysis of deficiency of conventional four wheel steering (4WS). A model following control structure is adopted to follow the desired yaw rate and vehicle sideslip angle, which consists of feedforward and feedback controller...
The best advantage of the DYC is it can greatly improve vehicle handling and stability. It is proposed integrated control of four wheel steering systems (4WS) and direct yaw moment control. A desirable vehicle model is established with the best performance of side slip angle and yaw rate. The strategy of both the forward controller and feedback controller of tracking the desirable model is adopted...
The use of combined direct yaw-moment control (DYC) with Active Front Steering (AFS) control to improve vehicle handling and stability is proposed. To improve the response of yaw rate, the strategy of sliding mode theory is employed for AFS controller. Basing on the optimal control theory, the DYC controller is designed. The DYC controller makes the vehicle follow the desired dynamic model by sideslip...
In this study, a nonlinear electric power steering (EPS) system dynamic model based on road disturbance and torque sensor noise is investigated. In this paper, a new method of determining assist coefficient is proposed to obtain good driverpsilas feel, which is only relative to vehicle velocity. Evaluation indexes and an augmented system combined with the state space model of EPS are obtained. Hinfin...
This paper addresses a time-optimal manipulator control strategy of a free-floating space robot with constraint on reaction torque induced by the manipulator motion. When a manipulator of a space robot is controlled, rotational motion of the base body is induced by the reaction torque. Assuming that reaction wheels are used to cancel the reaction and to stabilize the base attitude, the torque limitation...
This paper deals with a control approach dedicated to stable limit cycle generation for underactuated mechanical systems. The proposed approach is based on partial nonlinear feedback linearization and dynamic control for optimal periodic reference trajectories tracking. Simulation results and experiments show the efficiency of the proposed approach.
Antilock braking systems (ABS) have been developed to reduce tendency of wheel lock and to improve vehicle control during sudden braking especially on slippery road surfaces. The objective of such control is to increase wheel tractive force in the desired direction while maintaining adequate vehicle stability and steerability and also reducing the vehicle stopping distance. In this paper, an optimized...
Slip arises during the acceleration of the automobile. As the result, the travel performance leads to an adverse effect because the grip force of the tyre on the road surface is lost. In this paper, we report the drive control system of an automobile by quadratic stabilization for the system, which considers the friction coefficient between the road surface and the tyre as an uncertainty in the controlled...
Proposes a control system based on optimal control theories to improve the handling and stability of electric vehicles by direct yaw moment generated from the driving or braking forces. Simulations of a J turn and lane change are carried out to verify the effect of the control system, and the results demonstrate that the performance of the controlled electric vehicle is significantly enhanced by the...
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