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The braking control problem for railway vehicles is considered. Communication flow from the front coaches to the rear ones is introduced, and a novel distributed braking control algorithm is proposed that, based on preview control theory, allows one to reduce the stopping distance. The effectiveness of the designed algorithm is corroborated by simulation comparisons to other standard approaches.
This paper considers vehicle speed dependent assistant control problems for electric power steering systems (EPSs). According to the requirement analysis of the vehicle speed dependent assistant control, a mathematical model of EPSs is established, and a double closed-loop control system structure is proposed. Based on the assist characteristic of the desired steering wheel torque, the function model...
In order to realize the differential function of electric vehicle driven by two rear wheel-hub motors, by following the optimal slip ratio of each wheel and equalizing the slip ratio of both drive wheels as target, a electronic differential control strategy based on terminal sliding mode is proposed. First of all, according to the standard μ-λ curve, the optimal slip ratio of the pavement is determined...
The Carleton University Simulator Project (CUSP) is developing a novel flight simulator that decouples typical translational motions from unlimited rotations about any axis. The new CUSP simulator, Atlas, consists of an orientable sphere, housing the cockpit, mounted on a motion platform. Atlas is not bound by the typical limitations in roll, pitch, and yaw of traditional flight simulators. This paper...
This paper deals with control system of skid steered robotic vehicle. Skid steering offers very simple way to achieve good traction on rough terrain. On the other hand it is difficult to precisely control the speed and the position of the vehicle. The presented solution uses modern approaches to control drives of the robotic vehicle such as visual odometry with stereo camera in combination with precise...
The paper presents a new approach to non-linear control of the omnidirectional mobile robotic platform. The omnidirectional mobile robot was chosen as the object of control because among other ground vehicles it is the most maneuverable and intended for a work in conditions of limited space, e.g. it is designed for solving transport tasks in warehouses. The omnidirectional platform has the shape of...
This paper present a MPC based yaw rate control frame for active front steering vehicle. Firstly, by establishing the yaw rate ideal model, the reference value of the yaw rate of the vehicle is obtained. And the reference yaw rate is constrained by tyre-road friction coefficient and vehicle speed. Then the MPC controller is designed by minimizing the rate of change of the control action and deviation...
In mobile robotics, there are already various highly manoeuvrable structures that, in order to be exploited to their full capacity, require specially designed control systems. Often, the sensing elements available for these structures are either limited or costly. The former is the case in odometry, where information is scarce and needs corroboration with other measurement methods. To overcome this...
In this paper, present a vehicle actuator response using a hybrid control and make the vehicle has electronic stability program. Electronic Stability Program (ESP) is an automatic stability control systems on vehicles. Where the system works to avoid understeer and oversteer conditions when the vehicle is turning. Understeer is a condition where the vehicle more difficult to turn, this is because...
Nowadays, the number of stroke and elder citizens are growing up which make these patients have difficulty in walking and living. Stroke patients have the weakness of the leg muscles and postural impairment resulted in the loss of ability to walk. For the elderly, the functions of various body systems are decline and cause defects of the skeletal system and the muscles, loss of ability to walk, together...
This paper considers the design of a controller and a constraint-enforcement scheme for application to dualmode, autonomous and manual steering systems. A tracking controller is designed to track a desired pinion angle during autonomous operation, and to provide assistive torque during manual operation. The tracking controller is designed using H∞ synthesis with tracking made possible via the solution...
The Traction Control System is the foundation to maintain the vehicle tractive performance and stability. In view of the characteristics of distributed driving electric vehicle, a traction control method is designed to control the wheel slip rate by adjusting the motor torque directly. And through reasonable correction to the target wheel speed, a balance of acceleration and stability of automobile...
The purpose of the paper is to propose a new control scheme in active front steering (AFS) for vehicle stability using disturbance observer method. In the paper, the ideal yaw rate can be calculated on the linear two-degrees-of-freedom vehicle model. In addition, the actual sideslip angle can also be estimated by using a state observer. Based on this, two kinds of baseline AFS controllers are proposed...
Electronic Stability Control (ESC) and Traction Control System (TCS) have progressed considerably, but there is seldom research on integration between the two active safety control systems. This paper proposes an integrated stability control system which combines the two modules cooperatively in order to achieve optimal torque distribution for decentralized electric vehicles (EVs) and constraint the...
The paper considers control problems of a group of frontsteering wheels kinematic nonholonomic vehicles with three wheels. The problems of driving the vehicles towards desired rigid and stringlike formations are considered. Special attention is given to the string stability problem and a control algorithm has been established for regulating propagation of disturbances through the vehicle string. Finally,...
Shared control is an important approach to avoid the driver-out-of-the-loop problems brought by imperfect autonomous driving. Steer-by-wire technology allows the mechanical decoupling between the steering wheel and the road wheels. On steer-by-wire vehicles, the automation can join the control loop by correcting the driver steering input, which forms a new paradigm of shared control. The new framework,...
This paper proposes an omni-directional mobile base utilizing spherical robots as its wheels. In particular, the mobile base can move in an omni-directional manner by controlling translational and rotational motion of the spherical robots. However, in practice, unnecessary rotation of the spherical robots may occur due to the presence of friction and individually controlled wheel's-direction. To overcome...
Modern production requests higher ability of transportation, thus intelligent machine is needed to replace human to work. The automated guided vehicle can carry heavy loads by human, people can choice the way they go and how fast they run. The chip selected is STM32f103VET6 which can provide many functions and it is frequently-used in intelligent machine. The L298n and actuator are selected to control...
In this research, a small humanoid robot and a bicycle of comparable size are constructed. Like the human rider, the robot is designed to pedal, balance and steer the bicycle. We particularly focus on the design of control system for the robot to balance and steer the bicycle using the handlebar. The control system is novel that it is capable of estimating the uncertain center of gravity of the robot-bicycle...
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