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提高汽车操纵稳定性的控制器设计(英文) 被引量:1
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作者 武建勇 唐厚君 +1 位作者 李少远 李昌刚 《系统仿真学报》 EI CAS CSCD 北大核心 2007年第24期5789-5796,共8页
为提高汽车操纵稳定性,设计了一种新颖的两级分层操纵稳定性控制系统。分级控制系统的第一层是一基于线性矩阵不等式的鲁棒模型匹配控制器。当汽车处于不稳定行驶状态时,该控制器优化稳定整车操纵性的横摆控制力矩,并根据该横摆力矩计... 为提高汽车操纵稳定性,设计了一种新颖的两级分层操纵稳定性控制系统。分级控制系统的第一层是一基于线性矩阵不等式的鲁棒模型匹配控制器。当汽车处于不稳定行驶状态时,该控制器优化稳定整车操纵性的横摆控制力矩,并根据该横摆力矩计算目标控制车轮的滑移率。控制系统的第二层是一移动滑模控制器。该控制器可以在预定的时间内精确地跟踪第一层控制器输入的参考滑移率,并对目标控制车轮施加制动力矩来达到稳定汽车操纵性的目的。在各种极限行驶状况下的仿真试验表明,该控制器可以有效地提高汽车操纵稳定性,而且该控制器对不同车速,各种附着系数的路面和车辆物理参数的变化具有很好的鲁棒性。 展开更多
关键词 汽车操纵稳定性 鲁棒模型匹配控制 线性矩阵不等式 移动滑模控制
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Control of trajectory tracking of two-wheeled differential spherical mobile robot 被引量:1
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作者 WANG Wei ZHANG Zhi-liang +1 位作者 GAO Ben-wen YI Ming 《Journal of Measurement Science and Instrumentation》 CAS CSCD 2020年第3期276-284,共9页
This paper presents a two-wheeled differential spherical mobile robot in view of the problems that the motion of spherical robot is difficult to control and the sensor is limited by the spherical shell.The robot is si... This paper presents a two-wheeled differential spherical mobile robot in view of the problems that the motion of spherical robot is difficult to control and the sensor is limited by the spherical shell.The robot is simple in structure,flexible in motion and easy to control.The kinematics and dynamics model of spherical mobile robot is established according to the structure of spherical mobile robot.On the basis of the adaptive neural sliding mode control,the trajectory tracking controller of the system is designed.During the simulation of the s-trajectory and circular trajectory tracking control of the spherical mobile robot,it is concluded that the spherical mobile robot is flexible in motion and easy to control.In addition,the simulation results show that the adaptive neural sliding mode control can effectively track the trajectory of the spherical robot.The adaptive control eliminates the influence of unknown parameters and disturbances,and avoids the jitter of left and right wheels during the torque output. 展开更多
关键词 mobile robot adaptive neural sliding mode control dynamics controller trajectory tracking
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Analytical modeling and multi-objective optimization(MOO) of slippage for wheeled mobile robot(WMR) in rough terrain 被引量:6
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作者 O.A.Ani 徐贺 +2 位作者 薛开 刘少刚 张振宇 《Journal of Central South University》 SCIE EI CAS 2012年第9期2458-2467,共10页
Good understanding of relationship between parameters of vehicle, terrain and interaction at the interface is required to develop effective navigation and motion control algorithms for autonomous wheeled mobile robots... Good understanding of relationship between parameters of vehicle, terrain and interaction at the interface is required to develop effective navigation and motion control algorithms for autonomous wheeled mobile robots (AWMR) in rough terrain. A model and analysis of relationship among wheel slippage (S), rotation angle (0), sinkage (z) and wheel radius (r) are presented. It is found that wheel rotation angle, sinkage and radius have some influence on wheel slippage. A multi-objective optimization problem with slippage as utility function was formulated and solved in MATLAB. The results reveal the optimal values of wheel-terrain parameters required to achieve optimum slippage on dry sandy terrain. A method of slippage estimation for a five-wheeled mobile robot was presented through comparing the odometric measurements of the powered wheels with those of the fifth non-powered wheel. The experimental result shows that this method is feasible and can be used for online slippage estimation in a sandy terrain. 展开更多
关键词 autonomous wheeled mobile robot terramechanics TRACTION motion control soil shear failure drawbar pull
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