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Electronically controlled air suspension systems have been used in vehicles to improve ride comfort and handling safety by adjusting vehicle height. This paper proposes a new nonlinear controller to adjust the height of the vehicle sprung mass (height control) and to regulate the roll and pitch angles of the vehicle body (leveling control) by an air suspension system. A sliding mode control algorithm...
Based on the analyzing means of Lagrange Dynamics, this thesis derived the motion equation of inverted pendulum as well as the control equation of rotary-arm. After dealing with the system through approximation, the author analyzed the data and simplified energy control rule that was easy to realize was worked out. The angle of rotation, the rate of change as well as the swing trend of inverted pendulum...
To deal with the disturbance of current and pulse moment in the heading control of Autonomous Underwater Vehicle(AUV), the paper presents an auto-disturbance-rejection controller for the heading control system of AUV. By selecting an operating point for the derived nonlinear model of AUV in horizontal plane, a linear heading control model of AUV is obtained by linearizing the model at the operating...
The depth control problem is described and addressed for a small autonomous underwater vehicle in this paper. Based on the nonlinear model of AUV in vertical plane, the paper established a mathematical model of AUV's depth motion in vertical plane by linearizing the model at a specified operating point. An optimal integral-sliding-mode controller was designed for the AUV depth control system by constructing...
In this article we study a two-level driver model composed of one anticipatory and one compensatory control. The anticipatory control, executed in an open loop, is based mainly on the standard linear equations for the lateral dynamics of the vehicle. The compensatory control, executed in a closed loop, uses N PID controllers for the correction of lateral deviation, and other N PID controllers for...
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