Modelling and Control of Two-Wheeled Vehicle with Extendable Intermediate Body on an Inclined Surface

2013 ◽  
Author(s):  
Saad A. Agouri ◽  
Osman Tokhi ◽  
Abdullah Almeshal ◽  
Omar Sayidmarie ◽  
Khaled M. Goher
Keyword(s):  
Wheeled Vehicle ◽  
And Control ◽  
Inclined Surface

Kinematic Modeling, Analysis and Control of Highly Reconfigurable Articulated Wheeled Vehicles

2013 ◽  
Author(s):  
Aliakbar Alamdari ◽  
Xiaobo Zhou ◽  
Venkat N. Krovi
Keyword(s):  
Rough Terrain ◽  
Full Potential ◽  
Kinematic Modeling ◽  
Uneven Terrain ◽  
Wheeled Vehicle ◽  
Modeling Analysis ◽  
Improved Stability ◽  
Trajectory Following ◽  
And Control ◽  
Wheeled Vehicles

The Articulated Wheeled Vehicle (AWV) paradigm examines a class of wheeled vehicles where the chassis is connected via articulated chains to a set of ground-contact wheels. Actively- or passively-controlled articulations can help alter wheel placement with respect to chassis during locomotion, endowing the vehicle with significant reconfigurability and redundancy. The ensuing ‘leg-wheeled’ systems exploit these capabilities to realize significant advantages (improved stability, obstacle surmounting capability, enhanced robustness) over both traditional wheeled- and/or legged-systems in a range of uneven-terrain locomotion applications. In our previous work, we exploited the reconfiguration capabilities of a planar AWR to achieve internal shape regulation, secondary to a trajectory-following task. In this work, we extend these capabilities to the full 3D case — in order to utilize the full potential of kinematic- and actuation-redundancy to enhance rough-terrain locomotion.

Planar Dynamics and Control of a Two-Wheeled Single-Axle Vehicle

1999 ◽  
Author(s):  
Michael S. Abbott ◽  
R. Randall Soper ◽  
Donald E. Grove ◽  
Charles F. Reinholtz
Keyword(s):  
Vehicle Dynamics ◽  
Reaction Mass ◽  
Step Response ◽  
Robust Performance ◽  
Nonlinear Characteristics ◽  
Wheeled Vehicle ◽  
Dynamics And Control ◽  
Turn Radius ◽  
And Control ◽  
Inherent Stability

Abstract A two-wheeled, uniaxial, differentially driven vehicle possesses many salient advantages when compared to traditional vehicle designs. In particular, high traction factor, zero turn radius, and inherent stability are characteristics of this configuration. Drive torque is provided via a swinging reaction mass hanging below the axle. While mechanically simple, the resulting nonlinear vehicle dynamics can be quite complex. This work develops a planar dynamic model for the two-wheeled vehicle using traditional Hamiltonian techniques. Numerical simulations of the system step response demonstrate behavioral bifurcation and other nonlinear characteristics. However, the simple linear proportional-derivative control designed herein provides robust performance over steady slopes.

scholarly journals Stabilization and Control of Single-Wheeled Vehicle with BLDC Motor

2019 ◽  
Vol 21 (3) ◽  
pp. 48-52
Author(s):  
Patrik Beno ◽  
Miroslav Gutten ◽  
Milan Simko ◽  
Jozef Sedo
Keyword(s):  
Signal Processing ◽  
Digital Signal ◽  
Bldc Motor ◽  
Digital Output ◽  
C Language ◽  
Complementary Filter ◽  
Wheeled Vehicle ◽  
Basic Parameters ◽  
Short Code ◽  
And Control

To stabilize a single-wheel vehicle is necessary to know the angle of gradient of the platform with respect to the horizontal axis and also the movement of the vehicle. This can be detected in several ways. Accelerometers and gyroscopes are small, accurate and energy-saving today. They provide analogue or digital output. In the introduction we will describe the basic parameters of accelerometer and gyroscope. We will describe the principle of digital signal processing from both sensors. In the next section we look at the effect of dynamic acceleration on the sensors and the elimination of this phenomenon with a complementary filter. We explain, what it is a complementary filter, benefits and internal structure. We will include a short code in the C language for data processing from the output.

Studi eksperimental pemantauan kondisi dan penilaian analisa kinematik pengereman mobil

2018 ◽  
Vol 12 (1) ◽  
pp. 37
Author(s):  
Muhammad Sabri ◽  
Ardhian Fauza
Keyword(s):  
Wheeled Vehicle ◽  
Road Condition ◽  
Brake Performance ◽  
Braking Process ◽  
And Control ◽  
The Relationship

Braking is an activity that aims to stop, handle and control the vehicle through the wheels. This study conducted experimentaly on four-wheeled vehicle brakes. The purpose is to find the relationship between the main parameters of the force, distance and time on the braking process. The results showed that the force parameters were inversely proportional to the distance and braking time. It will be an indicator of the brake performance to control vehicle base on road condition.

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