013 Dynamic modelling and tracking control of nonholonomic wheeled vehicles

1994 ◽  
Vol 2 (5) ◽  
pp. 900
Keyword(s):  
Tracking Control ◽  
Dynamic Modelling ◽  
Wheeled Vehicles

Non-Traditional Controllers: Composite ABS/TCS for Wheeled Vehicle

2013 ◽  
Vol 711 ◽  
pp. 491-494
Author(s):  
Ching Kuo Wang ◽  
Chang Hsin Chang
Keyword(s):  
Tracking Control ◽  
Fuzzy Controller ◽  
Viscous Friction ◽  
Lumped Mass ◽  
Braking System ◽  
Wheeled Vehicle ◽  
Nonlinear Features ◽  
Braking Distance ◽  
Rigid Body Motions ◽  
Wheeled Vehicles

Modern vehicle dynamics in its broadest sense encompasses all forms of vehicles. It aims to improve the riding comfort and the maneuverability for high-quality automobiles. This paper develops a sensor-based fuzzy controller (SFC) with a composite anti-lock braking system and tracking control system (ABS/TCS) to navigate escaping motions of wheeled vehicles under the assumption of Coulombs viscous friction and lumped-mass/rigid-body motions. The so-called escaping dynamics of wheeled vehicles occurs when the vehicle escapes from the constrained space during braking or cornering. Traditionally, such slippage phenomenon is usually ignored because of its high frequency and strong nonlinear features. The proposed SFC is designed to shorten braking distance under emergent circumstances and minimize cornering radius to improve maneuverability for wheeled vehicles. Finally, detailed simulations of wheeled vehicles with a composite ABS/TCS under the assumption of Coulombs viscous friction are used to justify the SFC algorithm.

Dynamic modelling and PFL-based trajectory tracking control for underactuated cable-driven truss-like manipulator

2021 ◽  
Vol 28 (10) ◽  
pp. 3127-3146
Author(s):  
Shu-chen Ding ◽  
Li Peng ◽  
Shang-ling Qiao ◽  
Rong-qiang Liu ◽  
Bundi Josephat
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Dynamic Modelling ◽  
Trajectory Tracking Control

On the Backward Path Tracking Control of N-Trailer Systems

2021 ◽  
Vol 1 (1) ◽  
pp. 13-20
Author(s):  
Julius Kolb ◽  
Gunter Nitzsche ◽  
Sebastian Wagner ◽  
Klaus Röbenack
Keyword(s):  
Tracking Control ◽  
Path Tracking ◽  
Stability Conditions ◽  
Control Law ◽  
Exact Linearization ◽  
Lateral Control ◽  
General Stability ◽  
Articulated Vehicles ◽  
Articulated Vehicle ◽  
Wheeled Vehicles

This paper considers the lateral control of articulated wheeled vehicles in backward motion. The parameterized articulated vehicle is composed of a car-like truck and N passive trailers, resulting in one single steerable axle. First a nonlinear path tracking control law based on exact linearization of an offset model is reviewed and the general stability conditions of such systems is presented. Second, a stability analysis for some vehicle cases is performed and verified in simulation. The possible application of this path tracking control law in real world articulated vehicles is discussed, and its limitations are shown.

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