Four-wheel car steering is modelled by a single-track model with nonlinear tire characteristics. A generic yaw-rate feedback law for robust decoupling of lateral and yaw motion is derived. For robust yaw stabilization...
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Four-wheel car steering is modelled by a single-track model with nonlinear tire characteristics. A generic yaw-rate feedback law for robust decoupling of lateral and yaw motion is derived. For robust yaw stabilization a velocity scheduled yaw-rate feedback to rear-wheel steering is given, by which the linearized yaw subsystem gets velocity independent eigenvalues.
The reduction of the state-matrix of a linear time-invariant state-space model to a block-diagonal form by using a state coordinate transformation is equivalent with an additive decomposition of the corresponding tran...
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The reduction of the state-matrix of a linear time-invariant state-space model to a block-diagonal form by using a state coordinate transformation is equivalent with an additive decomposition of the corresponding transfer-function matrix. Computationally involved and large storage demanding algorithms for solving several systems modeling problems can be conveniently reformulated such that they perform exclusively on the low order subsystems corresponding to the individual terms of suitable additive decompositions. Important reductions of both the computational effort and required memory usually by using the reformulated algorithms and thus, their applicability can be extended to handle higher order systems. The paper presents several algorithms suitable to perform efficiently on additively decomposed systems. The effectiveness of these algorithms for solving large order systems modeling problems relies on a reliable numerical algorithm to compute the block-diagonal form of a matrix.
Outlines key technologies in the approach of the author's research establishment to space robotics. Based on multisensory gripper technology, local on-board sensory feedback, and predictive graphic simulation (wit...
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Outlines key technologies in the approach of the author's research establishment to space robotics. Based on multisensory gripper technology, local on-board sensory feedback, and predictive graphic simulation (with emphasis on sensory simulation) a tele-sensor programming concept is introduced that allows sensor-based teleoperation in spite of large signal delays as well as sensor-based off-line programming following a "learning by showing" concept. A small multisensory robot based on these concepts has flown in space with a ten-day Space Shuttle mission. This robot technology experiment ROTEX was very successful and showed that, with these sensor-based concepts, even present-day space robots can perform different prototype tasks in a variety of operational modes, including automatic (reprogrammable) operation, and on-board teleoperation using human and/or machine intelligence.
ANDECS belongs to the new generation of open CAE systems for computational experimenting in controlled dynamic systems simulation, analysis, and multi-objective optimization. Strict databased function modularization w...
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ANDECS belongs to the new generation of open CAE systems for computational experimenting in controlled dynamic systems simulation, analysis, and multi-objective optimization. Strict databased function modularization with neutral object-oriented data- and model interfaces allows a flexible configuration of application programs. This modularity also guarantees side-effect free functional extensions by an application programmer. Module operation can be switched any time from interactive line commands to an X-Window graphical user interface. Via macro scripts stored on database, module sequences can be operated in batch mode with automatic parameter incrementation. Function modules are available for basic mathematical methods, control methods, simulation, parameter- and trajectory optimization, and interactive visualization for result- and algorithm animation.
This paper introduces a new integrated path control strategy (combined path planning and motion control) for autonomous systems of arbitrary dimension. A harmonic artificial potential field is used to specify admissib...
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This paper introduces a new integrated path control strategy (combined path planning and motion control) for autonomous systems of arbitrary dimension. A harmonic artificial potential field is used to specify admissible trajectories leading around obstacles. Using a sliding mode controller, motion is generated along the gradient lines of the potential field, avoiding collisions with the obstacles. The extremely low computational complexity of the proposed method makes it very suitable for online applications. The strategy is applied to mobile robots moving amidst known obstacles. Only the obstacle closest to the robot is considered at each time instance. The switching of the two respective gradient fields along the equi-distance line between two obstacles leads to the interesting phenomenon of an additional "spatial" sliding surface, which is examined in detail. The algorithm guarantees approaching the goal point continuously, following a reasonably short path. Numerical examples are presented to demonstrate the utility of this new strategy.< >
Many plants have large variations in operating conditions. To ensure smooth running it is essential to find a simple fixed gain controller that guarantees rapidly decaying and well-damped transients for all admissible...
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ISBN:
(数字)9781447133650
Many plants have large variations in operating conditions. To ensure smooth running it is essential to find a simple fixed gain controller that guarantees rapidly decaying and well-damped transients for all admissible operating conditions.;presents design tools, developed by the authors, for the solution of this design problem. Examples of simple and complex cases such as a crane, a flight control problem and the automatic and active four-wheel steering of a car illustrate the use of these tools. This book is intended for anyone who has taken an undergraduate course in feedback control systems and who seeks an advanced treatment of robust control with applications. Drawing on the resources and authoritative research of a leading aerospace institute, it will mainly be of interest to mechanical and electrical engineers in universities, institutes and industrial research centres.
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