The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
In this work we derive steady-state cornering conditions for a single-track vehicle model without restricting the operation of the tires to their linear region (i.e. allowing the vehicle to drift). For each steady-state equilibrium we calculate the corresponding tire friction forces at the front and rear tires, as well as the required front steering angle and front and rear wheel longitudinal slip,...
A simplified 6-axle linear vehicle model to determine the stability control associated with tractor semi-trailers is proposed. The propose of this model is to describe the vehicle dynamics accurately so as to design the active safety controller well. Verification of the 6-axle planar model is performed by putting drastically handling maneuver inputs into the model steering, then comparing the response...
The purpose of this paper is motion analysis by experiment and simulation for riding bicycles with children. It is very important to think about stability when the bicycle is driving with children. However, such a research is not so performed. Therefore, analysing human motions in the such case by some experiments and simulations, dynamic characteristics of the such case are shown. The modeling of...
ABS and TPMS is a technical measure enhanced automobile initiative security. Nowadays ABS system and the TPMS system are mutually independent; the article proposed a merged thought between the two. Using fuzzy PID adaptive control algorithm realized two kinds of functions, and using mat lab tool simulates system. The simulation result showed that the fusion thought proposed in this article guaranteed...
This paper describes a practical implementation of simple control algorithms on a 6DoF quadrotor flying in an uncontrolled environment and being equipped with inexpensive sensors. A significant number of control algorithms that apply dynamic inversion or backstepping techniques on simplified state variable models of the vehicle dynamics are present in the literature, but they are only tested in simulations...
In this paper the problem of designing a control system aiming at automatically balancing a riderless bicycle in the upright position is considered. Such a problem is formulated as the design of a linear-parameter-varying (LPV) state-feedback controller which guarantees stability of the bicycle when the velocity ranges in a given interval and its derivative is bounded. The designed control system...
Roll angle and height of the center of gravity are important variables that play a critical role in the calculation of real-time rollover index for a vehicle. The rollover index predicts the real-time propensity for rollover and is used in activation of rollover prevention systems such as differential braking based stability control systems. Sensors to measure roll angle are expensive. Sensors to...
This paper develops a simple nonlinear control model to represent the dynamics of a coupled vehicle-driver system. It is applied to an analysis of delay and preview time in closed-loop control. The model is a reduced order non-linear model based on a separation between kinetic and kinematic driver control components. In kinetic control, vehicle dynamics and compensatory actions are represented in...
According to the problem that some key state parameters in vehicle stability control process are too difficult to directly measure, combining the strong tracking filtering theory with data fusion estimation technology, and by a 4-DOF nonlinear vehicle dynamics model, the algorithm of multi-sensor linear combination state optimization estimation based on strong tracking filter is proposed. For the...
The active devices dedicated to on-road vehicle stability cannot be applied satisfactorily in an off-road context, since the variability and the non-linear features of grip conditions can no longer be neglected. Specific solutions have then to be investigated. In this paper, the prevention of light all-terrain vehicle (ATV) rollover is addressed. First, a backstepping observer is designed in order...
The research developments and structural feature of electro-hydraulic brake (EHB) system were investigated. EHB and vehicle dynamic models were established and analyzed. The control strategy was accomplished for vehicle stability control with EHB system and verified by simulation in typical condition of steering under braking at low-friction condition. The simulation results show that the controller...
The contribution of this paper is the development of a nonlinear position controller for a quadrotor VTOL aircraft using feedback linearization with dynamic extension. The developed controller completely decouples and linearizes the nonlinear dynamical model of the aircraft. The use of dynamic extension has resulted into a fourteenth dimensional controller for the the twelve dimensional state system...
In this paper, we consider a control strategy of multi-robot systems, or simply, swarms, based on emotional control technique. First, we briefly discuss a ldquokinematicrdquo swarm model in n-dimensional space introduced in an earlier paper. In that model, motion of every swarm member is governed by predefined inter-individual interactions. Limitations of every member's field of view are also considered...
We present the design and construction of a UAV in delta configuration in order to accomplish certain tasks and requirements which are explained along this document. We presented too, after the construction, the dynamic model of the UAV developed, based on its structural characteristics and obtained through the Newton-Euler method. The final dynamic model is restricted to longitudinal motion to simplify...
In this paper, an adaptive neural network (NN) controller is proposed for the stabilization of dynamic nonholonomic mechanic systems with unknown inertia parameters and disturbances. First, to facilitate the control design, the nonholonomic kinematic subsystem is transformed into a skew-symmetric form and the properties of the overall systems are discussed. Then, an adaptive NN controller is presented...
In this paper a dynamic model based control scheme is proposed for the stabilization of an underactuated underwater vehicle, in the presence of slowly varying, unknown disturbances. An unscented Kalman filter (UKF), based on the vehicle's dynamic model, is applied for the sensor fusion process to provide an estimation of the full state vector of the system. External disturbances and unmodeled phenomena...
This paper focuses on the positioning control of of a small size autonomous surface vessel (ASV) that can be used to carry a multitude of payload systems, including acoustic devices for underwater positioning and for communications with autonomous underwater vehicles. Its main motivation is the development of highly operational systems, by replacing typically moored support infrastructures with others...
Reported researches on semi-active suspension neglect the actuador dynamics, missing important information that can deteriorate the suspension's performance. The present research proposes a new semi-active suspension model with a magnetorheological damper, including its dynamics. Three control approaches are applied to this suspension model to improve passenger comfort and vehicle stability. The well...
Robotic lighter-than-air vehicles (type of unanimated air vehicle UAV), provide a promissory strategic platform for the transport, exploration and surveillance. This paper presents an approach to the control of a small sized airship in cruise flight phase; specifically, non-linear control by extended linearization is considered. In order to make this control, a study of the dynamic model and some...
This paper deals with attitude control of spacecraft with two moving-mass. Two mass particles are constrained to move in different circular track fixed within the spacecraft, respectively. The dynamical model of the spacecraft is presented in a reduced dimensional Hamiltonian form. The Hamiltonian model is noncanonical and underactuated. We consider the application of interconnection and damping assignment...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.