Analysis of Robotic Vehicle Steering and Controller Delay
نویسنده
چکیده
Robotic vehicles are driving at highway speeds using computer vision and other methods to detect the vehicle’s position on the roadway. Several factors affect system performance and stability. In this paper a simple vehicle and path following model is developed. The effect of vehicle understeer, control delay, and other control parameters is investigated and their effect on stability is presented. A method that uses navigation sensors to compensate for computation delay is presented.
منابع مشابه
Modeling and Optimal Control of 4 Wheel Steering Vehicle Using LQR and its Comparison with 2 Wheel Steering Vehicle
In this paper, kinetic and kinematic modeling of a 4 wheel steering vehicle is done and its movement is controlled in an optimal way using Linear Quadratic Regulator (LQR). The results are compared with the same control of two-wheel steering case and the advantages are analyzed. In 4 wheel steering vehicles which are nowadays more applicable the number of controlling actuators are more than the...
متن کاملOptimal discrete-time control of robot manipulators in repetitive tasks
Optimal discrete-time control of linear systems has been presented already. There are some difficulties to design an optimal discrete-time control of robot manipulator since the robot manipulator is highly nonlinear and uncertain. This paper presents a novel robust optimal discrete-time control of electrically driven robot manipulators for performing repetitive tasks. The robot performs repetit...
متن کاملVehicle Directional Stability Control Using Bifurcation Analysis of Yaw Rate Equilibrium
In this article, vehicle cornering stability and brake stabilization via bifurcation analysis has been investigated. In order to extract the governing equations of motion, a nonlinear four-wheeled vehicle model with two degrees of freedom has been developed. Using the continuation software package MatCont a stability analysis based on phase plane analysis and bifurcation of equilibrium is perfo...
متن کاملPD Controller Design with H¥ Performance for Linear Systems with Input Delay
This paper presents H∞ control problem for input-delayed systems. A neutral system approach is considered to the design of PD controller for input delay systems in presence of uncertain time-invariant delay. Using this approach, the resulting closed-loop system turns into a specific time-delay system of neutral type. The significant specification of this neutral system is that its delayed coeff...
متن کاملDesign of PID Controller for Teleopration System with Genetic Algorithm
This paper presents a novel teleoperation controller for a nonlinear master–slave robotic system with constant time delay in communication channel. The proposed controller enables the teleoperation system to compensate human and environmental disturbances, while achieving master and slave position coordination in both free motion and contact situation. The current work basically extends the pas...
متن کامل