Download or read book Design and Advanced Robust Chassis Dynamics Control for X by Wire Unmanned Ground Vehicle written by Jun NI and published by Morgan & Claypool Publishers. This book was released on 2018-01-04 with total page 144 pages. Available in PDF, EPUB and Kindle. Book excerpt: X-by-wire Unmanned Ground Vehicles (UGVs) have been attracting increased attention for various civilian or military applications. The x-by-wire techniques (drive-by-wire, steer-by-wire, and brake-by-wire techniques) provide the possibility of achieving novel vehicle design and advanced dynamics control, which can significantly improve the overall performance, maneuverability, and mobility of the UGVs. However, there are few full x-by-wire UGVs prototype models reported in the world. Therefore, there is no book that can fully describe the design, configuration, and dynamics control approach of full x-by-wire UGVs, which makes it difficult for readers to study this hot and interesting topic. In this book, we use a full x-by-wire UGV, developed by our group, as the example. This UGV is completely x-by-wire with four in-wheel motors driven and a four-wheel independent steer steer. In this book, the overall design of the UGV, the design of the key subsystems (battery pack system, in-wheel motor-driven system, independent steer system, remote and autonomous control system), and the dynamics control approach will be introduced in detail, and the experiment's results will be provided to validate the proposed dynamics control approach.

Download or read book Design and Advanced Robust Chassis Dynamics Control for X by Wire Unmanned Ground Vehicle written by Jun NI and published by Springer Nature. This book was released on 2022-05-31 with total page 130 pages. Available in PDF, EPUB and Kindle. Book excerpt: X-by-wire Unmanned Ground Vehicles (UGVs) have been attracting increased attention for various civilian or military applications. The x-by-wire techniques (drive-by-wire, steer-by-wire, and brake-by-wire techniques) provide the possibility of achieving novel vehicle design and advanced dynamics control, which can significantly improve the overall performance, maneuverability, and mobility of the UGVs. However, there are few full x-by-wire UGVs prototype models reported in the world. Therefore, there is no book that can fully describe the design, configuration, and dynamics control approach of full x-by-wire UGVs, which makes it difficult for readers to study this hot and interesting topic. In this book, we use a full x-by-wire UGV, developed by our group, as the example. This UGV is completely x-by-wire with four in-wheel motors driven and a four-wheel independent steer steer. In this book, the overall design of the UGV, the design of the key subsystems (battery pack system, in-wheel motor-driven system, independent steer system, remote and autonomous control system), and the dynamics control approach will be introduced in detail, and the experiment's results will be provided to validate the proposed dynamics control approach.

Download or read book Design and Advanced Robust Chassis Dynamics Control for X by Wire Unmanned Ground Vehicle written by Jun Ni and published by Morgan & Claypool. This book was released on 2018-01-04 with total page 130 pages. Available in PDF, EPUB and Kindle. Book excerpt: X-by-wire Unmanned Ground Vehicles (UGVs) have been attracting increased attention for various civilian or military applications. The x-by-wire techniques (drive-by-wire, steer-by-wire, and brake-by-wire techniques) provide the possibility of achieving novel vehicle design and advanced dynamics control, which can significantly improve the overall performance, maneuverability, and mobility of the UGVs. However, there are few full x-by-wire UGVs prototype models reported in the world. Therefore, there is no book that can fully describe the design, configuration, and dynamics control approach of full x-by-wire UGVs, which makes it difficult for readers to study this hot and interesting topic. In this book, we use a full x-by-wire UGV, developed by our group, as the example. This UGV is completely x-by-wire with four in-wheel motors driven and a four-wheel independent steer steer. In this book, the overall design of the UGV, the design of the key subsystems (battery pack system, in-wheel motor-driven system, independent steer system, remote and autonomous control system), and the dynamics control approach will be introduced in detail, and the experiment's results will be provided to validate the proposed dynamics control approach.

Download or read book Advanced Autonomous Vehicle Design for Severe Environments written by V.V. Vantsevich and published by IOS Press. This book was released on 2015-10-20 with total page 408 pages. Available in PDF, EPUB and Kindle. Book excerpt: Classical vehicle dynamics, which is the basis for manned ground vehicle design, has exhausted its potential for providing novel design concepts to a large degree. At the same time, unmanned ground vehicle (UGV) dynamics is still in its infancy and is currently being developed using general analytical dynamics principles with very little input from actual vehicle dynamics theory. This technical book presents outcomes from the NATO Advanced Study Institute (ASI) ‘Advanced Autonomous Vehicle Design for Severe Environments’, held in Coventry, UK, in July 2014. The ASI provided a platform for world class professionals to meet and discuss leading-edge research, engineering accomplishments and future trends in manned and unmanned ground vehicle dynamics, terrain mobility and energy efficiency. The outcomes of this collective effort serve as an analytical foundation for autonomous vehicle design. Topics covered include: historical aspects, pivotal accomplishments and the analysis of future trends in on- and off-road manned and unmanned vehicle dynamics; terramechanics, soil dynamic characteristics, uncertainties and stochastic characteristics of vehicle-environment interaction for agile vehicle dynamics modeling; new methods and techniques in on-line control and learning for vehicle autonomy; fundamentals of agility and severe environments; mechatronics and cyber-physics issues of agile vehicle dynamics to design for control, energy harvesting and cyber security; and case studies of agile and inverse vehicle dynamics and vehicle systems design, including optimisation of suspension and driveline systems. The book targets graduate students, who desire to advance further in leading-edge vehicle dynamics topics in manned and unmanned ground vehicles, PhD students continuing their research work and building advanced curricula in academia and industry, and researchers in government agencies and private companies.

Download or read book Encyclopedia of Artificial Intelligence written by Philip L. Frana and published by Bloomsbury Publishing USA. This book was released on 2021-04-07 with total page 405 pages. Available in PDF, EPUB and Kindle. Book excerpt: This authoritative reference work will provide readers with a complete overview of artificial intelligence (AI), including its historic development and current status, existing and projected AI applications, and present and potential future impact on the United States and the world. Some people believe that artificial intelligence (AI) will revolutionize modern life in ways that improve human existence. Others say that the promise of AI is overblown. Still others contend that AI applications could pose a grave threat to the economic security of millions of people by taking their jobs and otherwise rendering them "obsolete"-or, even worse, that AI could actually spell the end of the human race. This volume will help users understand the reasons AI development has both spirited defenders and alarmed critics; explain theories and innovations like Moore's Law, mindcloning, and Technological Singularity that drive AI research and debate; and give readers the information they need to make their own informed judgment about the promise and peril of this technology. All of this coverage is presented using language and terminology accessible to a lay audience.

Download or read book Design and Development of Advanced Control Techniques for an Unmanned Ground Vehicle written by Amr Mohamed and published by . This book was released on 2018 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Recent years have seen considerable progress towards the goal of autonomous and unmanned ground vehicles which became essential for conducting military operations. These autonomous vehicles have the capability to operate and react to their environments without external control. Autonomous multi-wheeled combat vehicles are crucial for military applications which offer numerous leverages on modern battlefields. Applying autonomy features to such vehicles significantly increases its combat capabilities and expands its applications to work-day and night for risky missions compared with traditional manned ground vehicles. However, it is associated with some challenges because of their large dimension, heavy weight, and complex geometry. Therefore, the development of autonomous combat vehicles has become a cutting-edge research topic in robotics and automotive engineering. This thesis focuses on the control issues related to applying autonomous features for the multi-wheeled combat vehicles due to their significant influence especially when navigating in the presence of obstacles. The primary concern of path planning is to compute collision-free paths. Another equally important issue is to compute a realizable path and, if possible, achieving an optimal path bringing the vehicle to the final position. For these purposes, the developed methodology considers the combination between the optimal control theory using Pontryagin's Minimum Principle (PMP) and Artificial Potential Filed (APF). In addition, a four-axle bicycle model of the actual multi-wheeled combat vehicle considering the vehicle body lateral and yaw dynamics is developed. To generate the vehicle optimal path in real time, an Artificial Neural Network (ANN) model is proposed. The introduced ANN model allows the vehicle to carry out an autonomous navigation in real time with maintaining the path optimality by considering the vehicle parameters in terms of yaw rate, lateral velocity, heading angle and steering angle. Subsequently, a comparative study and performance analysis of the developed optimal path algorithm using PMP with Dynamic Programming (DP) method was carried out in order to guarantee the global optimum solution. Determining the accurate vehicle position offers sufficient capabilities which increase the autonomy and safety features, especially in case of off-road locomotion. In this regard, a hybrid framework for positioning technique based on the integration of GPS/INS for combat vehicles is developed. The developed algorithm is able to provide an accurate and reliable vehicle positioning information, even if the number of visible satellites is less than four, due to the harsh vehicle operation environments. In this work, a scaled multi-wheeled combat vehicle model was developed using system identification methodology. Different system identification methods are considered and applied to solve and identify this problem. An advanced control system in terms of fuzzy logic, robust, and PID control systems are designed. In addition, the Processor-In-the-Loop co-simulation (PIL) is considered, which permits and achieves a more realistic situation where the developed control algorithms running on a dedicated processor. The performance and effectiveness of the developed controllers are evaluated for vehicle heading angle tracking using different predefined heading angles. Furthermore, a comparative evaluation to assess the feasibility of the developed control algorithms is discussed. Finally, it should be stated that this work offers the first attempt in the open literature to control the scaled multi-wheeled combat vehicle using different advanced control techniques such as, fuzzy logic, [...]∞.

Download or read book Advanced Chassis Control Technology for Steer by Wire Vehicles written by Xiaodong Wu and published by CRC Press. This book was released on 2024-06-04 with total page 191 pages. Available in PDF, EPUB and Kindle. Book excerpt: Advanced Chassis Control Technology for Steer-by-Wire Vehicles details state-of-the-art drive-by-wire technology, enabling engineers to create safer and smarter steering technology. With applications in Formula 1 driving, this book is an accessible yet ambitious introduction to the technology that is fast becoming the future of road vehicles. Steer-by-wire systems replace conventional mechanical technology with electronic sensors, controllers, and actuators, enhancing functionality when steering. Features such as variable steer ratio, customized road feel, and advanced vehicle dynamics control all ensure that this maximizes safety when driving. The book looks first at the theory behind this technology and compares it to conventional mechanical steering. It discusses control through forward and backward dynamics and a shared steering control concept to improve vehicle handling and performance, relevant to intelligent vehicles. It also explains how to create chassis domain fusion control, four independent wheels steering system and teleoperated control. Using case studies and ISOs, the book is a practical guide to safely designing steer-by-wire systems. The book is an essential guide to all engineers working in the modern automotive industry.

Download or read book Robust Stability and Control of Multi Body Ground Vehicles with Uncertain Dynamics and Failures written by and published by . This book was released on 2010 with total page 39 pages. Available in PDF, EPUB and Kindle. Book excerpt: The main objective of the proposed research is to improve various stability and handling qualities (such as Roll Over stability, Lane Change maneuver stability etc) of military, off road, unmanned multi-body ground vehicles within as wide operating envelope as possible under the presence of uncertainty in vehicle model parameters as well as under various sensor, actuator and component faults. Armed with important and award winning theoretical tools in linear and nonlinear uncertain systems theory developed by the PI, in this research project, we attempt to design advanced and sophisticated control systems to improve the roll over stability and other performance objectives of multi-body ground vehicles over as wide range of speed and terrain characteristics as possible and to improve the stability and performance characteristics of these vehicles under various faults. The analysis and design algorithms resulting from these sound theoretical bases are then applied to multi-body ground vehicle stability and control problem with military vehicle application.

Download or read book Dynamics and Advanced Motion Control of Off Road UGVs written by Yue Ma and published by Academic Press. This book was released on 2020-08-06 with total page 361 pages. Available in PDF, EPUB and Kindle. Book excerpt: Dynamics and Advanced Motion Control of Unmanned Ground Off-Road Vehicles details both theoretical concepts such as planning and perception when working with UGVs, as well as more practical, hands-on aspects such as torque vectoring control. The book also covers related technologies such as intelligent and electrification of ground vehicles. After an introduction, initial chapters include an exploration of wheel-soil and track-soil interaction mechanisms, motion stability, motion control, fault detection and identification, and fault tolerance control. This book offers readers a detailed understanding of Unmanned Ground Vehicles by combining theory, applications and further developments. Topics are covered in such a way that readers will be well versed on the current field of UGVs and will be able to implement future design and research in a feasible and effective way. Gives a comprehensive analysis and introduction to the dynamics and advanced motion control of unmanned ground off-road vehicles Covers key related technology concepts, such as intelligent and electrification of ground vehicles Details the entire control framework of off-road UGVs and the implementation of controller design

Download or read book Advanced X by Wire Technologies in Design Control and Measurement for Vehicular Electrified Chassis written by Yong Li and published by Mdpi AG. This book was released on 2023-07-06 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Advanced X-by-wire technologies for vehicular electrified chassis play an essential role in the development of new energy intelligent vehicles, which is the inevitable choice for intelligent vehicles in the future. This technology is involved in mechanical engineering, electronic and electrical engineering, computer technology, control engineering, signal processing, and artificial intelligence. Advanced electrified chassis control technology transmits control signals through cables and acts directly on the actuator to implement corresponding actions. The application of X-by-wire technologies for vehicular electrified chassis has changed the complex mechanical connections among actuators and hydraulic and pneumatic equipment in the past, greatly promoting energy efficiency, integration, and intelligence. This book focuses on advanced X-by-wire technologies in strong reliability design, modeling, integration control, thermal management, energy management, fault diagnosis, and fault-tolerant control with the vehicular electrified chassis. Therefore, the aim of this book is to solicit recent advanced X-by-wire technologies for vehicular electrified chassis.

Download or read book Nonlinear Control Technology of Vehicle Chassis by Wire System written by Wanzhong Zhao and published by Springer Nature. This book was released on 2022-01-03 with total page 248 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book belongs to the field of intelligent vehicle control, which is dedicated to the research of nonlinear control problems of intelligent vehicle chassis-by-wire systems. Through the nonlinear stability control of the steer-by-wire system and the consistency optimization control of the brake-by-wire system, the performance of the vehicle subsystem is improved. Then, the decoupling control of the nonlinear inverse system is used to realize the decoupling of the chassis-by-wire system. Finally, this book further adopts nonlinear rollover prevention integrated control to improve the rollover prevention performance of the vehicle.

Download or read book Advanced Chassis Control Technology for Steer By Wire Vehicles written by Xiaodong Wu and published by . This book was released on 2024-07 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Control Applications of Vehicle Dynamics written by Jingsheng Yu and published by CRC Press. This book was released on 2021-12-20 with total page 368 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents essential knowledge of car vehicle dynamics and control theory with NI LabVIEW software product application, resulting in a practical yet highly technical guide for designing advanced vehicle dynamics and vehicle system controllers. Presenting a clear overview of fundamental vehicle dynamics and vehicle system mathematical models, the book covers linear and non-linear design of model based controls such as wheel slip control, vehicle speed control, path following control, vehicle stability and rollover control, stabilization of vehicle-trailer system. Specific applications to autonomous vehicles are described among the methods. It details the practical applications of Kalman-Bucy filtering and the observer design for sensor signal estimation, alongside lateral vehicle dynamics and vehicle rollover dynamics. The book also discusses high level controllers, alongside a clear explanation of basic control principles for regenerative braking in both electric and hybrid vehicles, and wheel torque vectoring systems. Concrete LabVIEW simulation examples of how the models and controls are used in representative applications, along with software algorithms and LabVIEW block diagrams are illustrated. It will be of interest to engineering students, automotive engineering students and automotive engineers and researchers.

Download or read book Human Inspired Control System for an Unmanned Ground Vehicle written by Alvaro Vargas-Clara and published by . This book was released on 2015 with total page 119 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this research work, a novel control system strategy for the robust control of an unmanned ground vehicle is proposed. This strategy is motivated by efforts to mitigate the problem for scenarios in which the human operator is unable to properly communicate with the vehicle. This novel control system strategy consisted of three major components: I.) Two independent intelligent controllers, II.) An intelligent navigation system, and III.) An intelligent controller tuning unit. The inner workings of the first two components are based off the Brain Emotional Learning (BEL), which is a mathematical model of the Amygdala-Orbitofrontal, a region in mammalians brain known to be responsible for emotional learning. Simulation results demonstrated the implementation of the BEL model to be very robust, efficient, and adaptable to dynamical changes in its application as controller and as a sensor fusion filter for an unmanned ground vehicle. These results were obtained with significantly less computational cost when compared to traditional methods for control and sensor fusion. For the intelligent controller tuning unit, the implementation of a human emotion recognition system was investigated. This system was utilized for the classification of driving behavior. Results from experiments showed that the affective states of the driver are accurately captured. However, the driver's affective state is not a good indicator of the driver's driving behavior. As a result, an alternative method for classifying driving behavior from the driver's brain activity was explored. This method proved to be successful at classifying the driver's behavior. It obtained results comparable to the common approach through vehicle parameters. This alternative approach has the advantage of directly classifying driving behavior from the driver, which is of particular use in UGV domain because the operator's information is readily available. The classified driving mode was used tune the controllers' performance to a desired mode of operation. Such qualities are required for a contingency control system that would allow the vehicle to operate with no operator inputs.

Download or read book Ground Vehicle Dynamics written by Karl Popp and published by . This book was released on 2010-11-20 with total page 368 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Design and Fabrication of an Unmanned Ground Vehicle Utilizing Variable Internal Inertial Properties written by Donald Ruffatto (III.) and published by . This book was released on 2011 with total page 214 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Robust Control Design for Active Driver Assistance Systems written by Péter Gáspár and published by Springer. This book was released on 2018-07-04 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: This monograph focuses on control methods that influence vehicle dynamics to assist the driver in enhancing passenger comfort, road holding, efficiency and safety of transport, etc., while maintaining the driver’s ability to override that assistance. On individual-vehicle-component level the control problem is formulated and solved by a unified modelling and design method provided by the linear parameter varying (LPV) framework. The global behaviour desired is achieved by a judicious interplay between the individual components, guaranteed by an integrated control mechanism. The integrated control problem is also formalized and solved in the LPV framework. Most important among the ideas expounded in the book are: application of the LPV paradigm in the modelling and control design methodology; application of the robust LPV design as a unified framework for setting control tasks related to active driver assistance; formulation and solution proposals for the integrated vehicle control problem; proposal for a reconfigurable and fault-tolerant control architecture; formulation and solution proposals for the plug-and-play concept; detailed case studies. Robust Control Design for Active Vehicle Assistance Systems will be of interest to academic researchers and graduate students interested in automotive control and to control and mechanical engineers working in the automotive industry. Advances in Industrial Control aims to report and encourage the transfer of technology in control engineering. The rapid development of control technology has an impact on all areas of the control discipline. The series offers an opportunity for researchers to present an extended exposition of new work in all aspects of industrial control.