scholarly journals Fuzzy Control Strategy Applied to Adjustment of Front Steering Angle of a 4WSD Agricultural Mobile Robot

Lámpsakos ◽  
2012 ◽  
pp. 31
Author(s):  
Henry Borrero-Guerrero ◽  
Rafael Bueno-Sampaio ◽  
Marcelo Becker
Keyword(s):  
Fuzzy Control ◽  
Control Strategy ◽  
Fuzzy Controller ◽  
Controller Design ◽  
Steering System ◽  
Steering Angle ◽  
Lateral Dynamics ◽  
Controller Performance ◽  
Fuzzy Control Strategy ◽  
Real Scale

This paper presents the preliminary studies of the control strategy based in fuzzy logic, projected for the steering system of AGRIBOT project that consist of a wheeled autonomous mobile robotic in real scale endowed with four independent steering and driven wheels (4WSD). In this work we present a preliminary fuzzy controller design applied to front steering angle, using a multivariable plant which incorporates simplified linear model of lateral dynamics of a vehicle whose input are linear combination of rear and front steering angles. The fuzzy control strategy was decided because provides flexible way to deploy with embedded systems. Simulations are used to illustrate the designed controller performance. We use Ackerman geometry to trace front steering angle that allows the vehicle to perform correctly a given maneuver preserving a minimum level of stability and maneuverability. The goal is to establish a relationship between steering input commands and the control commands to the actuators so that it is possible to adjust the attitude of the actuators over the movement axis, as the trajectory change.

A Research on the Fuzzy Control Strategy for Parallel Hybrid Electric Vehicle

2011 ◽  
Vol 121-126 ◽  
pp. 2522-2526
Author(s):  
Ling Cai ◽  
Liang Ge
Keyword(s):  
Fuzzy Control ◽  
Electric Vehicle ◽  
Energy Management ◽  
Control Strategy ◽  
Hybrid Electric Vehicle ◽  
Fuzzy Controller ◽  
Secondary Development ◽  
Simulation Results ◽  
Hybrid Electric ◽  
Fuzzy Control Strategy

Several kinds of methods of energy management of hybrid electric vehicle (HEV) are analyzed. Based on the design requirement of a certain type of parallel HEV, the fuzzy control strategy of energy management is proposed. ADVISOR2002 is chosen as the simulation platform for secondary development, and the simulation results of the fuzzy control strategy and electric assist control strategy are compared. The simulation results indicate that the adaptive fuzzy controller can obviously improve the performance of HEV fuel economy and emissions.

Application of Fuzzy Control Technology in a Sonar-Based Obstacle Avoidance Intelligent Wheelchair

2013 ◽  
Vol 321-324 ◽  
pp. 2004-2008 ◽  
Author(s):  
Ting Su ◽  
Guo Hua Cao ◽  
Ji Hua Hu
Keyword(s):  
Fuzzy Control ◽  
Obstacle Avoidance ◽  
Control Strategy ◽  
Fuzzy Controller ◽  
Control Technology ◽  
Application System ◽  
Intelligent Wheelchair ◽  
System Use ◽  
Measured Distance ◽  
Fuzzy Control Strategy

The paper presents a kind of application system combining fuzzy control technology and ultrasonic obstacle avoidance technology for the intelligent wheelchair (iwheelchair). The system use the ultrasonic measured-distance as the input signal and the output signal is the speed of the iwheelchair to avoid obstacle. The fuzzy controller is designed in Matlab platform and simulated according to the obtained fuzzy control strategy. The fuzzy control technology has been applied successfully in ultrasound obstacle avoidance system for the intelligent wheelchair.

Research on the Walking Control Strategy of Roboticized Roadheader Based on the Fuzzy Control

2013 ◽  
Vol 373-375 ◽  
pp. 275-281
Author(s):  
Jian Gong ◽  
Wei Liu ◽  
Fu Zhong Wang
Keyword(s):  
Fuzzy Control ◽  
Control Strategy ◽  
Motion Model ◽  
Steering Angle ◽  
Walking Control ◽  
Construction Procedure ◽  
Working Face ◽  
Driving Wheel ◽  
Fuzzy Control Strategy ◽  
The Relationship

This paper considers the problem of trajectory deviating for a class of roboticized roadheader. The motion model of roadheader is first established based on the analysis of excavation construction procedure, then the fuzzy control strategy based on dual-modality structure is proposed to realize directional adjustment and forward-walking control. The relationship between steering angle and driving wheel speed and the establishment of fuzzy control model are mainly focused. The experiment results indicate that the control strategy can satisfy the requirements of excavation construction procedure, and the remote control of roadheader can also be conducted. It is shown that the proposed approach can take an important role in few or unattended roadheader working face construction.

Study on the Fuzzy Control Strategy of Automobile Braking Stability

2013 ◽  
Vol 631-632 ◽  
pp. 1160-1165
Author(s):  
Yan Ning Deng ◽  
Zi E Zhou ◽  
Fa Zong Li
Keyword(s):  
Fuzzy Control ◽  
Control Strategy ◽  
Simulation Experiment ◽  
Fuzzy Controller ◽  
Stability Control ◽  
Automobile Driving ◽  
Good Stability ◽  
Braking Performance ◽  
Moment Control ◽  
Fuzzy Control Strategy

The article is put forward to using fuzzy control to improve brake stability, designing the fuzzy controller of automobile braking stability, determine the yawing moment control strategy. The simulation experiment indicates that braking stability of automobile that using fuzzy control has a good stability and security, the proposed control strategy can make automobile quickly recover to the expected driving lane after partial drove and maintain a good braking performance, the research shows that the proposed braking stability control strategy is effective and has certain significance for improving the safety of the automobile driving.

Vehicle Stability Control on Tire Burst Steering and Braking Condition With Active Steering System

2018 ◽  
Author(s):  
Yaqi Dai ◽  
Jian Song ◽  
Liangyao Yu
Keyword(s):  
Control Strategy ◽  
Steering System ◽  
Stability Control ◽  
Steering Angle ◽  
Tire Force ◽  
Vehicle Stability Control ◽  
Yaw Moment Control ◽  
Moment Control ◽  
Control Layer ◽  
Yaw Moment

By analyzing the key safety problems under the front-outside-tire burst steering condition, a vehicle stability control strategy is proposed in this paper, which is based on active front steering and differential braking systems. Taken both the handling stability and safety into account, we divided the whole control strategy into two layers, which are yaw moment control layer and the additional steering angle & tire force distribution layer. To solve the similar linear problem concisely, the LQR control is adopted in the yaw moment control layer. To achieve the goal of providing enough additional lateral force and yaw moment while keeping the burst tire in appropriate condition, the additional steering angle provided by active front steering system and the tire force distribution was adjusted step by step. To test the proposed control strategy performance, we modelling a basic front-outside-tire burst steering condition, in which the tire blows out once the vertical pressure reach the predefined critical value. Through simulation on different adhesion coefficient road, the control strategy proposed in this paper performance quite better compare with the uncontrolled one in aspect of movement, burst tire protection, handling stability.

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