Download or read book Fuzzy Sliding Mode Control Algorithm for Four Wheel Skid Steer Vehicle written by Jawad Aslam and published by LAP Lambert Academic Publishing. This book was released on 2014-12 with total page 124 pages. Available in PDF, EPUB and Kindle. Book excerpt: In the skid steer vehicle the velocity constraints are quite different from other vehicle in terms of its wheels having to skid laterally to follow the curved path. The wheels of the skid steer vehicle are non-steerable; the vehicle is turned as the differential torque is applied to the wheels on the opposite sides. Motion control for skid steer vehicle is particularly challenging due to the non-linearities that arise from tire slip and braking. Moreover the instantaneous center of rotation may move out of the skid steer vehicle base causing loss of motion stability. Therefore it is difficult to model the accurate path following of skid steer vehicle. This implies that the control at the kinematic level is not sufficient enough and in general demands to use the dynamic model. In this research the mathematical model of four wheel skid steer vehicle is built with parameters of P-3AT skid steer mobile robot. This model is hybrid of vehicle dynamics and the semi-empirical tire model (TM-easy tire model). The model is used to synthesize and design of the sliding mode control law with fuzzy switching regulator.
Download or read book Design of a Fuzzy Logic Controller for Skid Steer Mobile Robot written by Mohd. Azizi Abdul Rahman and published by . This book was released on 2009 with total page 93 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Brain Inspired Cognitive Architectures for Artificial Intelligence BICA AI 2020 written by Alexei V. Samsonovich and published by Springer Nature. This book was released on 2020-12-08 with total page 613 pages. Available in PDF, EPUB and Kindle. Book excerpt: The book focuses on original approaches intended to support the development of biologically inspired cognitive architectures. It bridges together different disciplines, from classical artificial intelligence to linguistics, from neuro- and social sciences to design and creativity, among others. The chapters, based on contributions presented at the Eleventh Annual Meeting of the BICA Society, held on November 10-14, 2020, in Natal, Brazil, discuss emerging methods, theories and ideas towards the realization of general-purpose humanlike artificial intelligence or fostering a better understanding of the ways the human mind works. All in all, the book provides engineers, mathematicians, psychologists, computer scientists and other experts with a timely snapshot of recent research and a source of inspiration for future developments in the broadly intended areas of artificial intelligence and biological inspiration.
Download or read book Model Based Fuzzy Control written by Rainer Palm and published by Springer Science & Business Media. This book was released on 2013-04-17 with total page 195 pages. Available in PDF, EPUB and Kindle. Book excerpt: Model Based Fuzzy Control uses a given conventional or fuzzy open loop model of the plant under control to derive the set of fuzzy rules for the fuzzy controller. Of central interest are the stability, performance, and robustness of the resulting closed loop system. The major objective of model based fuzzy control is to use the full range of linear and nonlinear design and analysis methods to design such fuzzy controllers with better stability, performance, and robustness properties than non-fuzzy controllers designed using the same techniques. This objective has already been achieved for fuzzy sliding mode controllers and fuzzy gain schedulers - the main topics of this book. The primary aim of the book is to serve as a guide for the practitioner and to provide introductory material for courses in control theory.
Download or read book Sliding Mode Control for Vehicle Directional Stability on Slippery Surfaces written by Arnab Sur and published by . This book was released on 1990 with total page 288 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Fuzzy neural Sliding Mode Controller and Its Application to the Vehicle Anti lock Braking Systems written by Yeongseob Kueon and published by . This book was released on 1995 with total page 320 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Sliding Mode Fuzzy Controllers written by Mojtaba Ahmadieh Khanesar and published by Springer Nature. This book was released on 2021-07-21 with total page 237 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book addresses some of the challenges suffered by the well-known and robust sliding-mode control paradigm. The authors show how the fusion of fuzzy systems with sliding-mode controllers can alleviate some of these problems and promote applicability. Fuzzy systems used as soft switches eliminate high-frequency signal oscillations and can substantially lower the noise sensitivity of sliding-mode controllers. The amount of a priori knowledge required concerning the nominal structure and parameters of a nonlinear system is also shown to be much reduced by exploiting the general function-approximation property of fuzzy systems so as to use them as identifiers. The main features of this book include: • a review of various existing structures of sliding-mode fuzzy control; • a guide to the fundamental mathematics of sliding-mode fuzzy controllers and their stability analysis; • state-of-the-art procedures for the design of a sliding-mode fuzzy controller; • source codes including MATLAB® and Simulink® codes illustrating the simulation of these controllers, particularly the adaptive controllers; • a short bibliography for each chapter for readers interested in learning more on a particular subject; and • illustrative examples and simulation results to support the main claims made in the text. Academic researchers and graduate students interested in the control of nonlinear systems and particularly those working in sliding-mode controller design will find this book a valuable source of comparative information on existing controllers and ideas for the development of new ones.
Download or read book Sliding Mode Control of Vehicle Dynamics written by Antonella Ferrara and published by IET. This book was released on 2017-08-16 with total page 308 pages. Available in PDF, EPUB and Kindle. Book excerpt: The control of the longitudinal, lateral and vertical dynamics of two and four-wheeled vehicles, both of conventional type as well as fully-electric, is important not only for general safety of vehicular traffic in general, but also for future automated driving. This book provides an overview of this important topic.
Download or read book Using Fuzzy Logic to Enhance Control Performance of Sliding Mode Control and Dynamic Matrix Control written by Edinzo J. Iglesias Sanchez and published by . This book was released on 2006 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: ABSTRACT: Two application applications of Fuzzy Logic to improve the performance of two controllers are presented. The first application takes a Sliding Mode Controller designed for chemical process to reject disturbances. A fuzzy element is added to the sliding surface to improve the controller performance when set point change affects the control loop; especially for process showing highly nonlinear behavior. This fuzzy element, is calculated by means of a set of fuzzy rules designed based on expert knowledge and experience. The addition of improved the controller response because accelerate or smooth the controller as the control loop requires. The Fuzzy Sliding Mode Controller (FSMCr) is a completely general controller. The FSMCr was tested with two models of nonlinear process: mixing tank and neutralization reactor. In both cases the FSMCr improves the performance shown for other control strategies, as the industrial PID, the conventional Sliding Mode Control and the Standard Fuzzy Logic Controller. The second part of this research presents a new way to implement the Dynamic Matrix Control Algorithm (DMC). A Parametric structure of DMC (PDMC) control algorithm is proposed, allowing to the controller to adapt to process nonlinearities. For a standard DMC a process model is used to calculate de controller response. This model is a matrix calculated from the dynamic response of the process at open loop. In this case the process parameters are imbibed into the matrix. The parametric structure isolates the process parameters allowing adjust the model as the nonlinear process changes its behavior. A Fuzzy supervisor was developed to detect changes in the process and send taht [sic]information to the PDMCr. The modeling error and other parameters related were used to estimate those changes. Some equations were developed to calculate the PDMCr tuning parameter, lambda, as a function of the process parameters. The performance of PDMCr was tested using to model of nonlinear process and compare with the standard DMC; in most the cases PDMCr presents less oscillations and tracks with less error the set point. Both control strategies presented in this research can be implemented into industrial applications easily.
Download or read book A Study on Adaptive Fuzzy Sliding Mode Controller for Nonholonomic and Holonomic Wheeled Mobile Robots written by 陳智揚 and published by . This book was released on 2009 with total page 122 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Fuzzy Sliding Mode Control for a Building Structure Based on a Genetic Algorithm written by An-Pei Wang and published by . This book was released on 2001 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Fuzzy Adaptive Sliding Mode Control written by Sim Kim Cheong and published by . This book was released on 2000 with total page 246 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Adaptive Control of Mechanical Manipulators written by John J. Craig and published by Addison Wesley Publishing Company. This book was released on 1988 with total page 152 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Autonomous Ground Vehicles written by Ümit Özgüner and published by Artech House. This book was released on 2011 with total page 289 pages. Available in PDF, EPUB and Kindle. Book excerpt: In the near future, we will witness vehicles with the ability to provide drivers with several advanced safety and performance assistance features. Autonomous technology in ground vehicles will afford us capabilities like intersection collision warning, lane change warning, backup parking, parallel parking aids, and bus precision parking. Providing you with a practical understanding of this technology area, this innovative resource focuses on basic autonomous control and feedback for stopping and steering ground vehicles.Covering sensors, estimation, and sensor fusion to percept the vehicle motion and surrounding objects, this unique book explains the key aspects that makes autonomous vehicle behavior possible. Moreover, you find detailed examples of fusion and Kalman filtering. From maps, path planning, and obstacle avoidance scenarios...to cooperative mobility among autonomous vehicles, vehicle-to-vehicle communication, and vehicle-to-infrastructure communication, this forward-looking book presents the most critical topics in the field today.
Download or read book Motor Vehicle Dynamics Modelling And Simulation written by Giancarlo Genta and published by World Scientific. This book was released on 1997-04-19 with total page 552 pages. Available in PDF, EPUB and Kindle. Book excerpt: The book starts with an historical overview of road vehicles. The first part deals with the forces exchanged between the vehicle and the road and the vehicle and the air with the aim of supplying the physical facts and the relevant mathematical models about the forces which dominate the dynamics of the vehicle.The second part deals with the dynamic behaviour of the vehicle in normal driving conditions with some extensions towards conditions encountered in high-speed racing driving.
Download or read book Functional Fractional Calculus for System Identification and Controls written by Shantanu Das and published by Springer Science & Business Media. This book was released on 2007-09-26 with total page 251 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this book, not only are mathematical abstractions discussed in a lucid manner, but also several practical applications are given particularly for system identification, description and then efficient controls. The reader gets a feeling of the wide applicability of fractional calculus in the field of science and engineering. With this book, a starter can understand the concepts of this emerging field with a minimal effort and basic mathematics.
Download or read book Vehicle Dynamics and Control written by Rajesh Rajamani and published by Springer Science & Business Media. This book was released on 2011-12-21 with total page 516 pages. Available in PDF, EPUB and Kindle. Book excerpt: Vehicle Dynamics and Control provides a comprehensive coverage of vehicle control systems and the dynamic models used in the development of these control systems. The control system applications covered in the book include cruise control, adaptive cruise control, ABS, automated lane keeping, automated highway systems, yaw stability control, engine control, passive, active and semi-active suspensions, tire-road friction coefficient estimation, rollover prevention, and hybrid electric vehicles. In developing the dynamic model for each application, an effort is made to both keep the model simple enough for control system design but at the same time rich enough to capture the essential features of the dynamics. A special effort has been made to explain the several different tire models commonly used in literature and to interpret them physically. In the second edition of the book, chapters on roll dynamics, rollover prevention and hybrid electric vehicles have been added, and the chapter on electronic stability control has been enhanced. The use of feedback control systems on automobiles is growing rapidly. This book is intended to serve as a useful resource to researchers who work on the development of such control systems, both in the automotive industry and at universities. The book can also serve as a textbook for a graduate level course on Vehicle Dynamics and Control.
