Design And Advanced Robust Chassis Dynamics Control For X By Wire Unmanned Ground Vehicle

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Design and Advanced Robust Chassis Dynamics Control for X-by-Wire Unmanned Ground Vehicle

Jun NI,Jibin Hu,Changle Xiang
Design and Advanced Robust Chassis Dynamics Control for X by Wire Unmanned Ground Vehicle Book PDF

Author : Jun NI,Jibin Hu,Changle Xiang
Publisher : Morgan & Claypool Publishers
Page : 144 pages
File Size : 52,6 Mb
Release : 2018-01-04
Category : Technology & Engineering
ISBN : 9781681732527

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Design and Advanced Robust Chassis Dynamics Control for X-by-Wire Unmanned Ground Vehicle by Jun NI,Jibin Hu,Changle Xiang Pdf

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.

Design and Advanced Robust Chassis Dynamics Control for X-by-Wire Unmanned Ground Vehicle

Jun NI,Jibin Hu,Changle Ziang
Design and Advanced Robust Chassis Dynamics Control for X by Wire Unmanned Ground Vehicle Book PDF

Author : Jun NI,Jibin Hu,Changle Ziang
Publisher : Springer Nature
Page : 130 pages
File Size : 44,8 Mb
Release : 2022-05-31
Category : Technology & Engineering
ISBN : 9783031014963

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Design and Advanced Robust Chassis Dynamics Control for X-by-Wire Unmanned Ground Vehicle by Jun NI,Jibin Hu,Changle Ziang Pdf

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.

Design and Advanced Robust Chassis Dynamics Control for X-by-Wire Unmanned Ground Vehicle

Jun Ni,Jibin Hu,Changle Xiang
Design and Advanced Robust Chassis Dynamics Control for X by Wire Unmanned Ground Vehicle Book PDF

Author : Jun Ni,Jibin Hu,Changle Xiang
Publisher : Morgan & Claypool
Page : 130 pages
File Size : 44,9 Mb
Release : 2018-01-04
Category : Technology & Engineering
ISBN : 1681732513

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Design and Advanced Robust Chassis Dynamics Control for X-by-Wire Unmanned Ground Vehicle by Jun Ni,Jibin Hu,Changle Xiang Pdf

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.

Encyclopedia of Artificial Intelligence

Philip L. Frana,Michael J. Klein
Encyclopedia of Artificial Intelligence Book PDF

Author : Philip L. Frana,Michael J. Klein
Publisher : Bloomsbury Publishing USA
Page : 405 pages
File Size : 52,5 Mb
Release : 2021-04-07
Category : Technology & Engineering
ISBN : 9781440853272

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Encyclopedia of Artificial Intelligence by Philip L. Frana,Michael J. Klein Pdf

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.

Advanced Autonomous Vehicle Design for Severe Environments

V.V. Vantsevich,M.V. Blundell
Advanced Autonomous Vehicle Design for Severe Environments Book PDF

Author : V.V. Vantsevich,M.V. Blundell
Publisher : IOS Press
Page : 408 pages
File Size : 55,8 Mb
Release : 2015-10-20
Category : Technology & Engineering
ISBN : 9781614995760

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Advanced Autonomous Vehicle Design for Severe Environments by V.V. Vantsevich,M.V. Blundell Pdf

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.

Cooperative Control of Dynamical Systems

Zhihua Qu
Cooperative Control of Dynamical Systems Book PDF

Author : Zhihua Qu
Publisher : Springer Science & Business Media
Page : 335 pages
File Size : 42,5 Mb
Release : 2009-02-07
Category : Technology & Engineering
ISBN : 9781848823259

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Cooperative Control of Dynamical Systems by Zhihua Qu Pdf

Stability theory has allowed us to study both qualitative and quantitative properties of dynamical systems, and control theory has played a key role in designing numerous systems. Contemporary sensing and communication n- works enable collection and subscription of geographically-distributed inf- mation and such information can be used to enhance signi?cantly the perf- manceofmanyofexisting systems. Throughasharedsensing/communication network,heterogeneoussystemscannowbecontrolledtooperaterobustlyand autonomously; cooperative control is to make the systems act as one group and exhibit certain cooperative behavior, and it must be pliable to physical and environmental constraints as well as be robust to intermittency, latency and changing patterns of the information ?ow in the network. This book attempts to provide a detailed coverage on the tools of and the results on analyzing and synthesizing cooperative systems. Dynamical systems under consideration can be either continuous-time or discrete-time, either linear or non-linear, and either unconstrained or constrained. Technical contents of the book are divided into three parts. The ?rst part consists of Chapters 1, 2, and 4. Chapter 1 provides an overview of coope- tive behaviors, kinematical and dynamical modeling approaches, and typical vehicle models. Chapter 2 contains a review of standard analysis and design tools in both linear control theory and non-linear control theory. Chapter 4 is a focused treatment of non-negativematrices and their properties,multipli- tive sequence convergence of non-negative and row-stochastic matrices, and the presence of these matrices and sequences in linear cooperative systems.

Nonlinear Control Technology of Vehicle Chassis-by-Wire System

Wanzhong Zhao,Chunyan Wang
Nonlinear Control Technology of Vehicle Chassis by Wire System Book PDF

Author : Wanzhong Zhao,Chunyan Wang
Publisher : Springer Nature
Page : 248 pages
File Size : 52,5 Mb
Release : 2022-01-03
Category : Technology & Engineering
ISBN : 9789811673221

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Nonlinear Control Technology of Vehicle Chassis-by-Wire System by Wanzhong Zhao,Chunyan Wang Pdf

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.

Automotive Control Systems

A. Galip Ulsoy,Huei Peng,Melih Çakmakci
Automotive Control Systems Book PDF

Author : A. Galip Ulsoy,Huei Peng,Melih Çakmakci
Publisher : Cambridge University Press
Page : 407 pages
File Size : 46,7 Mb
Release : 2012-04-30
Category : Computers
ISBN : 9781107010116

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Automotive Control Systems by A. Galip Ulsoy,Huei Peng,Melih Çakmakci Pdf

This textbook introduces advanced control systems for vehicles, including advanced automotive concepts and the next generation of vehicles for ITS.

Advanced X-by-Wire Technologies in Design, Control and Measurement for Vehicular Electrified Chassis

Yong Li,Xing Xu,Lin Zhang
Advanced X by Wire Technologies in Design Control and Measurement for Vehicular Electrified Chassis Book PDF

Author : Yong Li,Xing Xu,Lin Zhang
Publisher : Mdpi AG
Page : 0 pages
File Size : 54,5 Mb
Release : 2023-07-06
Category : Technology & Engineering
ISBN : 3036580565

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Advanced X-by-Wire Technologies in Design, Control and Measurement for Vehicular Electrified Chassis by Yong Li,Xing Xu,Lin Zhang Pdf

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.

Vehicle Dynamics and Control

Rajesh Rajamani
Vehicle Dynamics and Control Book PDF

Author : Rajesh Rajamani
Publisher : Springer Science & Business Media
Page : 516 pages
File Size : 46,6 Mb
Release : 2011-12-21
Category : Technology & Engineering
ISBN : 9781461414322

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Vehicle Dynamics and Control by Rajesh Rajamani Pdf

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.

Dynamic Analysis and Control System Design of Automatic Transmissions

Joel M Maguire,Huei Peng,Shushan Bai
Dynamic Analysis and Control System Design of Automatic Transmissions Book PDF

Author : Joel M Maguire,Huei Peng,Shushan Bai
Publisher : SAE International
Page : 218 pages
File Size : 52,5 Mb
Release : 2013-02-12
Category : Transportation
ISBN : 9780768076042

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Dynamic Analysis and Control System Design of Automatic Transmissions by Joel M Maguire,Huei Peng,Shushan Bai Pdf

While the basic working principle and the mechanical construction of automatic transmissions has not changed significantly, increased requirements for performance, fuel economy, and drivability, as well as the increasing number of gears has made it more challenging to design the systems that control modern automatic transmissions. New types of transmissions—continuously variable transmissions (CVT), dual clutch transmissions (DCT), and hybrid powertrains—have presented added challenges. Gear shifting in today’s automatic transmissions is a dynamic process that involves synchronized torque transfer from one clutch to another, smooth engine speed change, engine torque management, and minimization of output torque disturbance. Dynamic analysis helps to understand gear shifting mechanics and supports creation of the best design for gear shift control systems in passenger cars, trucks, buses, and commercial vehicles. Based on the authors’ graduate-level teaching material, this well-illustrated book relays how the fundamental principles of hydraulics and control systems are applied to today’s automatic transmissions. It opens with coverage of basic automatic transmission mechanics and then details dynamics and controls associated with modern automatic transmissions. Topics covered include: gear shifting mechanics and controls, dynamic models of planetary automatic transmissions, design of hydraulic control systems, learning algorithms for achieving consistent shift quality, torque converter clutch controls, centrifugal pendulum vibration absorbers, friction launch controls, shift scheduling and integrated powertrain controls, continuously variable transmission ratio controls, dual-clutch transmission controls, and more. The book includes many equations and clearly explained examples. Sample Simulink models of various transmission mechanical, hydraulic and control subsystems are also provided. Chapter Two, which covers planetary gear automatic transmissions, includes homework questions, making it ideal for classroom use. In addition to students, new engineers will find the book helpful because it provides the basics of transmission dynamics and control. More experienced engineers will appreciate the theoretical discussions that will help elevate the reader’s knowledge. Although many automatic transmission-related books have been published, most focus on mechanical construction, operation principles, and control hardware. None tie the dynamic analysis, control system design, and analytic investigation of the mechanical, hydraulic, and electronic controls as does this book.

Technology Development for Army Unmanned Ground Vehicles

National Research Council,Division on Engineering and Physical Sciences,Board on Army Science and Technology,Committee on Army Unmanned Ground Vehicle Technology
Technology Development for Army Unmanned Ground Vehicles Book PDF

Author : National Research Council,Division on Engineering and Physical Sciences,Board on Army Science and Technology,Committee on Army Unmanned Ground Vehicle Technology
Publisher : National Academies Press
Page : 180 pages
File Size : 47,8 Mb
Release : 2003-02-01
Category : Technology & Engineering
ISBN : 9780309086202

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Technology Development for Army Unmanned Ground Vehicles by National Research Council,Division on Engineering and Physical Sciences,Board on Army Science and Technology,Committee on Army Unmanned Ground Vehicle Technology Pdf

Unmanned ground vehicles (UGV) are expected to play a key role in the Army's Objective Force structure. These UGVs would be used for weapons platforms, logistics carriers, and reconnaissance, surveillance, and target acquisition among other things. To examine aspects of the Army's UGV program, assess technology readiness, and identify key issues in implementing UGV systems, among other questions, the Deputy Assistant Secretary of the Army for Research and Technology asked the National Research Council (NRC) to conduct a study of UGV technologies. This report discusses UGV operational requirements, current development efforts, and technology integration and roadmaps to the future. Key recommendations are presented addressing technical content, time lines, and milestones for the UGV efforts.

Robot and Multibody Dynamics

Abhinandan Jain
Robot and Multibody Dynamics Book PDF

Author : Abhinandan Jain
Publisher : Springer Science & Business Media
Page : 510 pages
File Size : 50,5 Mb
Release : 2010-12-17
Category : Technology & Engineering
ISBN : 9781441972675

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Robot and Multibody Dynamics by Abhinandan Jain Pdf

Robot and Multibody Dynamics: Analysis and Algorithms provides a comprehensive and detailed exposition of a new mathematical approach, referred to as the Spatial Operator Algebra (SOA), for studying the dynamics of articulated multibody systems. The approach is useful in a wide range of applications including robotics, aerospace systems, articulated mechanisms, bio-mechanics and molecular dynamics simulation. The book also: treats algorithms for simulation, including an analysis of complexity of the algorithms, describes one universal, robust, and analytically sound approach to formulating the equations that govern the motion of complex multi-body systems, covers a range of more advanced topics including under-actuated systems, flexible systems, linearization, diagonalized dynamics and space manipulators. Robot and Multibody Dynamics: Analysis and Algorithms will be a valuable resource for researchers and engineers looking for new mathematical approaches to finding engineering solutions in robotics and dynamics.

Robust Control Design with MATLAB®

Da-Wei Gu,Petko H. Petkov,Mihail M Konstantinov
Robust Control Design with MATLAB Book PDF

Author : Da-Wei Gu,Petko H. Petkov,Mihail M Konstantinov
Publisher : Springer Science & Business Media
Page : 389 pages
File Size : 42,8 Mb
Release : 2006-03-30
Category : Technology & Engineering
ISBN : 9781846280917

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Robust Control Design with MATLAB® by Da-Wei Gu,Petko H. Petkov,Mihail M Konstantinov Pdf

Shows readers how to exploit the capabilities of the MATLAB® Robust Control and Control Systems Toolboxes to the fullest using practical robust control examples.

Cable-Driven Parallel Robots

Andreas Pott
Cable Driven Parallel Robots Book PDF

Author : Andreas Pott
Publisher : Springer
Page : 465 pages
File Size : 40,6 Mb
Release : 2018-03-27
Category : Technology & Engineering
ISBN : 9783319761381

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Cable-Driven Parallel Robots by Andreas Pott Pdf

Cable-driven parallel robots are a new kind of lightweight manipulators with excellent scalability in terms of size, payload, and dynamics capacities. For the first time, a comprehensive compendium is presented of the field of cable-driven parallel robots. A thorough theory of cable robots is setup leading the reader from first principles to the latest results in research. The main topics covered in the book are classification, terminology, and fields of application for cable-driven parallel robots. The geometric foundation of the standard cable model is introduced followed by statics, force distribution, and stiffness. Inverse and forward kinematics are addressed by elaborating efficient algorithms. Furthermore, the workspace is introduced and different algorithms are detailed. The book contains the dynamic equations as well as simulation models with applicable parameters. Advanced cable models are described taking into account pulleys, elastic cables, and sagging cables. For practitioner, a descriptive design method is stated including methodology, parameter synthesis, construction design, component selection, and calibration. Rich examples are presented by means of simulation results from sample robots as well as experimental validation on reference demonstrators. The book contains a representative overview of reference demonstrator system. Tables with physical parameters for geometry, cable properties, and robot parameterizations support case studies and are valuable references for building custom cable robots. For scientist, the book provides the starting point to address new scientific challenges as open problems are named and a commented review of the literature on cable robot with more than 500 references are given.