Design and Performance Analysis of Robust H∞ Controller for a Scaled Autonomous Multi-Wheeled Combat Vehicle Heading Control

2018 ◽  
Author(s):  
Amr Mohamed ◽  
Moustafa El-Gindy ◽  
Jing Ren
Keyword(s):  
Performance Analysis ◽  
Tracking Algorithm ◽  
Weighting Functions ◽  
Heading Control ◽  
Combat Vehicle ◽  
Heading Angle ◽  
And Performance ◽  
Angle Tracking

This paper describes the design of a H∞ controller to track the desired heading angle for a scaled multi-wheeled combat vehicle considering the uncertainties that are difficult to estimate such as noise and disturbance. The augmented plant is structured by adjusting the weighting functions in presence of noise and disturbance. The developed H∞ framework is well suited for controlling the steering of the vehicle’s front four wheels individually to obtain the correct heading angle. The vehicle simulations are carried out and the robustness of the proposed heading angle tracking algorithm is incorporated. It has been found that the vehicle controller has the capability to achieve the desired heading angle changes with good performances and efficiency.

scholarly journals Autonomous Fuzzy Heading Control for a Multi-Wheeled Combat Vehicle

2021 ◽  
Vol 1 (1) ◽  
pp. 90-101
Author(s):  
A.N Ouda ◽  
Amr Mohamed
Keyword(s):  
Fuzzy Logic ◽  
Control System ◽  
Matlab Software ◽  
Heading Control ◽  
Tracking Controller ◽  
Outdoor Environments ◽  
Combat Vehicle ◽  
Heading Angle ◽  
Simulation Results ◽  
Angle Tracking

This paper introduces the design and the implementation of a heading angle tracking controller using fuzzy logic for a scaled Autonomous Multi-Wheeled Combat Vehicle (AMWCV) to navigate in outdoor environments. The challenge of designing this control system is to control the steering of the front four wheels individually to obtain the correct heading angle of the vehicle. The main contribution of the paper can be summarized in the fact that it is designing four fuzzy controllers for navigation and tracking the desired heading angle while at the same time while controlling the steering of the front four wheels individually. The AMWCV is capable of forwarding and backward movement where all eight wheels are powered individually. The different heading angles are used and simulated using MATLAB software to evaluate the performances of the developed algorithms. In addition, the performance of the developed controllers is validated in the presence of noise and disturbance in order to evaluate the robustness of the controller's Simulation results show the performances and demonstrate that the developed controllers are effective in predicting the desired heading angle changes.

DYNAMIC MODELING AND STRUCTURAL ANALYSIS OF MANTA-TYPE UUV

2011 ◽  
Vol 25 (31) ◽  
pp. 4319-4322
Author(s):  
JOON-YOUNG KIM ◽  
YUN-HAE KIM ◽  
HYEUNG-SIK CHOI ◽  
JINHO BAE ◽  
CHONG HYUN LEE ◽  
...  
Keyword(s):  
Structural Analysis ◽  
Dynamic Modeling ◽  
Experimental Test ◽  
Sliding Mode ◽  
Experimental Tests ◽  
Underwater Vehicle ◽  
Towing Tank ◽  
Heading Control ◽  
Heading Angle ◽  
Angle Tracking

This paper describes the dynamic modeling, structural analysis, implementation and experimental test of a Manta-type Unmanned Underwater Vehicle (MUUV). Various controllers such as PID, Sliding mode, and Fuzzy and H∞ controllers are designed for depth and heading control in order to compare the performance of each controller based on simulation. In addition, experimental tests are carried out in a towing tank for depth keeping and heading angle tracking.

TINGKAT KEPUASAN PESERTA LELANG TERHADAP PELAYANAN TEMPAT PELELANGAN IKAN (TPI) MORODEMAK

2019 ◽  
Vol 13 (2) ◽  
pp. 122-130
Author(s):  
Dian ayunita Nugraheni nurmala Dewi
Keyword(s):  
Performance Analysis ◽  
Service Quality ◽  
Gap Analysis ◽  
Quality Measurement ◽  
Service Satisfaction ◽  
Importance Value ◽  
Auction House ◽  
Participant Satisfaction ◽  
And Performance ◽  
Descriptive Method

Objectives of this study were analyze fish auction participant satisfaction to auction services in TPI Morodemak, analyze attributes effect, services that fit to service quality measurement, and analyzed fish auction participants perception to performance and importance for fish auction house Morodemak services. Used descriptive method and purposive sampling with 49 respondents consists of commercial fishmongers, traditional fishmongers, purse seine owners, and boat lift net owners as fish auction participant. Satisfication measurement used Customer Satisfication Index (CSI), Importance and Performance Analysis (IPA) and gap analysis. Results from this study were value CSI 20% (0.2) indicate the auction participants dissatisfied with the services provided, IPA show there are four attributes should be develop, two elements have not been completed based on measurement requirements of service satisfaction, gap value average -0.05 means the auction participants were not satisfied with the performance of TPI services because the performance value was lower than the importance value.

TANGGAPAN WAJIB PAJAK TERHADAP KUALITAS PELAYANAN DILIHAT DARI TINGKAT KEPENTINGAN DAN KINERJA PADA KANTOR PELAYANAN PAJAK KOTA BOGOR

2018 ◽  
Vol 2 (01) ◽  
pp. 14
Author(s):  
Eddy Supardi
Keyword(s):  
Performance Analysis ◽  
Service Quality ◽  
Descriptive Analysis ◽  
Good Work ◽  
Satisfaction Level ◽  
Quality Service ◽  
Analysis Method ◽  
And Performance ◽  
Personal Tax

The Tax Payer obidience in fulfiling their taxation obligation will be influenced a lot by the satisfaction level toward the service fiscus. The aim of this observation is to know the response of Tax Payer toward service quality through importance and performance. The population which become the object of this observation is the personal Tax Payer registered in Bogor Tax Service Office and the number of respondents taken as the sample are 100 respondents with Slovin formula. The analysis method used is descriptive analysis and importance-performance analysis.   The result of this observation will be able to be used as one of the input to Bogor Tax Service Office in improving the quality service and for the following observation, especially those who take the same object as the observation in order to improve the quality service to the Tax Payer based on the service of its working way which is felt less. Otherwise it is important for The Tax Payer, maintaining the good work or balancing the service quality based on the working way which is evaluated less important by The Taxe Payer, but has been done reasonably well or very well by The Service Office

Sign in / Sign up

Export Citation Format

Share Document