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It is well know that the interaction between poorly damped LC input filter with dc-dc converter lead to degradation of dynamic performance and fault scenario of the system. This problem also often occurs in fuel cell systems. Due to the relatively low and unregulated output voltage, the high gain boost converter is need in such application. A floating interleaved boost converter (FIBC) is selected...
A method of adaptive backstepping sliding mode controller design is presented for dynamic positioning ship with nonlinear mathematical model and external uncertain disturbances. Firstly, the position deviation and velocity error are proposed, and the virtual control vector of two subsystems are defined. Secondly, the sliding mode surface switch function is designed. Then, adaptive controller is designed...
This study proposes a new car-following (CF) model that considers the effect of electronic throttle (ET) opening angle under the non-lane-discipline road system. In particular, the effects of ET opening angle and lateral gap are incorporated in the CF model simultaneously. The stability analysis of the proposed CF model is performed using the perturbation method to obtain the stability condition....
In this paper, a bidirectional symmetric communication scheme for homogeneous platoon system is proposed. This scheme is based on the event-trigger condition which depends on both the vehicle itself and its neighbors' state. The sampled-data must meet a certain condition before transmitting, so communication resources among vehicles can be saved. The main contribution of this paper is that the event-triggered...
It is an important and essential aspect for autonomous ground vehicles to follow the desired path. In this manuscript, a path tracking controller using model predictive control (MPC) method is proposed. In order to describe the vehicle motion and its dynamics, kinematics and dynamics integrated model is first presented. Then, the control strategy is proposed and MPC is employed to design the path...
In this paper, a SMC based mobile robot controller is designed, which can achieve chatter alleviation, matched and mismatched disturbances regulation and stability at the same time. Specifically, there are four main contributions in this paper. First, new hierarchical sliding surfaces are designed in the paper for mobile robot subject to matched and mismatched disturbances. Second, a robust disturbance...
The stability problem of a dynamic quantized UAV airborne system with time-varying delay and packet losses is studied in this paper. Sufficient condition for asymptotic stability of the system is considered in terms of matrix inequalities. Finally an illustrative example demonstrates the effectiveness of the proposed method.
HDVs rollovers cost hundreds of million dollars every year, the risk of having dead people in accidents involving HDVs is multiplied by 2.4 in comparison to the same risk computed for accidents involving light vehicles. Wind has been shown to be an important factor that must be considered when investigating HDVs rollover. In order to address these concerns, this research built an aerodynamic and vehicle...
Work deals with fundamental algorithms for military vehicle stability control. Introduction of the work is focused on directional vehicle stability during cornering. One of the main part of the work is focused to develop a kinematic — dynamic model vehicle chassis in an MSC. Adams, which is later served on the simulation of certain driving situations when turning the vehicle. Vehicle model is exported...
Manipulator arms on an unmanned tracked vehicle are widely used for handling different defence application in an undulated terrain condition. Therefore, it is important to design a suitable multipurpose mobile manipulator without compromise the maneuverability of the unmanned ground vehicle. The criticality in the manipulator design is dynamic effect of the manipulator system should not affect the...
Work deals with fundamental algorithms for vehicle stability control. Introduction of the work is focused on directional vehicle stability during cornering. One of the main part of the work is focused to develop a kinematic - dynamic model vehicle chassis in an MSC. Adams, which is later served on the simulation of certain driving situations when turning the vehicle. Vehicle model is exported to Matlab/SIMULINK...
For the longitudinal model of an air-breathing hypersonic vehicle, its pitch dynamics is characterized by nonminimum phase when the term “elevator to lift” is not negligible. Nonminimum-phase characteristic is one of the main challenges for control design. In this paper, the control design problem is investigated for this kind of hypersonic vehicle with uncertain parameters and a novel design philosophy...
The study focuses on the methodology to take the effect of the unequal longitudinal tire forces into consideration to reinforce the accuracy of the linearized vehicle model, also known as the bicycle model. Using the estimated front and rear cornering stiffness values obtained through an adaptive scheme, the conventional bicycle model is analyzed. By forming the inverse bicycle model, a disturbance...
An 8-dof vehicle nonlinear dynamic model was established with the linear 2-dof vehicle handling characteristics model as the target control. The vehicle stability control system yaw and yaw rate combined fuzzy control simulation model was established based on automobile yaw moment and vehicle state deviation between the dynamic relationship. Through the hook simulation test, which shows that the active...
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,...
According to the Multi-body Dynamics, the lateral disturbances on high-speed vehicle are simplified as lateral forces and difference torques which act on the cm of the vehicle. And a 3 DOF vehicle model is set up for analyzing. It has theoretical significance on the later researches of high-speed vehicle stability with lateral disturbances to consider the disturbances as lateral forces and difference...
The purpose of this research is to develop a control law for a four wheel direct drive electric vehicle to improve the vehicle stability and handling performance. The control law is to calculate the required torque from the in-wheel motors of the vehicle to control the vehicle sideslip angle and yaw rate. For the simulation, a vehicle dynamics model is derived, which contains a three degree of freedom...
The subway tunnel's unstable settlement caused by long-term operation brings an unfavorable influence on the stability of tunnel. Therefore, researches on dynamic response analysis of tunnel foundation and reasonable range of grouting reinforcement are important to the safe operation of subway. Based on the vehicle dynamic load conditions during operation of subway, the tunnel dynamic stability analysis...
Recent advances toward steer-by-wire technology have promised significant improvements in vehicle, safety, stability, dynamics and maneuverability. The conventional mechanical linkages between the steering wheel and the front wheel are removed in this system. While the complete separation of the steering wheel from the road wheels provides exciting opportunities for vehicle dynamics control, it also...
The motorcycle model which has two degrees of freedom (2-DOF for short) is adopted to study the characteristics of four-wheel steering (4WS for short) vehicle, and the linear 2-DOF dynamic equation of 4WS vehicle is constructed in this paper. A neural network direct inverse controller is designed to control the steering system of 4WS through the offline identification and online learning processes...
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