Direct Yaw moment Control systems (DYC) can maintain the vehicle in the driver’s desired path by distributing the asymmetric longitudinal forces and the generation of the Control Yaw Moment (CYM). In order to achieve the superior control performance, intelligent usage of lateral forces is also required. The lateral wheel forces have an indirect effect on the CYM and based upon their directio...

Rough terrain control optimization for space rovers has become a popular and challenging research field. Improvements can be achieved concerning power consumption, reducing the risk of wheels digging in and increasing ability of overcoming obstacles. In this paper, we propose a terrain profiling and wheel speed adjustment approach based on terrain shape estimation. This terrain estimation is pe...

Mobile robots are increasingly being used in challenging outdoor environments for applications that include construction, mining, agriculture, military and planetary exploration. In order to accomplish the planned task, it is critical that the motion control system ensure accuracy and robustness. The achievement of high performance on rough terrain is tightly connected with the minimization of ...

One common mobile robot design consists of three ‘omniwheels’ arranged at the vertices of an equilateral triangle, with wheel axles aligned with the rays from the center of the triangle to each wheel. Omniwheels, like standard wheels, are driven by the motors in a direction perpendicular to the wheel axle, but unlike standard wheels, can slip in a direction parallel to the axle. Unlike a steere...

A new type of built-in composite electromagnetic and frictional braking structural scheme its corresponding coordinated control strategy were proposed to enhance the effects for electric vehicle. Fuzzy theory was applied design system. In comparison lower strength moderate strength, slip ratio high maintained at near 0.15. It effectively avoided wheel getting locked provided relatively large to...

In this paper, a torque distribution control for electric vehicles with an in-wheel motor installed each wheel is proposed in order to manage the traction operation of vehicle and avoid slip ratio from reach extreme values while moves into slippery surfaces. The driving force main controller system its consist two loop. PD-Fuzzy logic PI-control are applied as speed inner loop aim improving sta...