Multilinked position-path control for autonomous vehicle
نویسندگان
چکیده
In this paper control forces and torques automatic distribution algorithms for a vehicle actuators are considered. Base control algorithm is designed by position and path control method for vehicles [1] – [3]. This control algorithm is based on kinematics and dynamics equations of vehicle. Distribution of control forces and torques between actuators is solved by applying of the pseudoinverse matrix. Another approach is mathematical programming problem solution. These two approaches does not separate control channel as it is in conventional control systems [4]. The considered methods are applied in the control system of unmanned airship. Modeling results and estimation of algorithms accuracy and performance are presented. Key-Words: Actuators, control, multilinked systems, vehicles.
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