This paper presents a distributed control framework for groups of wheeled mobile robots with significant (nonnegligible) vehicle dynamics driving on terrain with variable performance characteristics. A dynamic model of a high-speed robot is developed with attention to representation of wheelterrain performance characteristics. Using this model, aspects of distributed, cooperative control on unk...

This study presents performance analysis results of SMC (Sliding mode control) with changing the chattering functions applied to slip suppression problem of electric vehicles (EVs). In SMC, chattering phenomenon always occurs through high frequency switching of the control inputs. It is undesirable phenomenon and degrade the control performance, since it causes the oscillations of the control i...

The article is devoted to a motion control problem for a differentially driven mobile robot in the task of trajectory tracking in the presence of skid-slip effects. The kinematic control concept presented in the paper is the Vector Field Orientation (VFO) feedback approach with a nonlinear feed-forward skid-slip influence compensation scheme. The VFO control law guarantees asymptotic convergenc...

In this paper, an optimal longitudinal slip ratio system for real-time identification of electric vehicle (EV) with motored wheels is proposed based on the adhesion between tire and road surface. First and foremost, the optimal longitudinal slip rate torque control can be identified in real time by calculating the derivative and slip rate of the adhesion coefficient. Secondly, the vehicle speed...

Modern concepts of electrified drive trains for off-road vehicles allow for some new possibilities for control strategies. When considering traction efficiency, the most controllable factor is wheel-slippage. Many existing slip control systems use a certain threshold value of slip as reference, for example for farm tractors, electrohydraulic hitch control system (EHC) controls the implement, wh...

Abst rac t The slip power recovery configuration is an attractive scheme of variable speed drive, with high efficiency and low converter rating; however, high performance control has being difficult. In this paper, novel applications of fuzzy logic for the intelligent control of a slip power recovery system are presented. A direct fuzzy logic controller and an adaptive fuzzy controller, based o...

Abstract. Research on autonomous navigation for tracked mobile robots operating in unstructured environments has received renewed attention in the last years due to its increasing use in tasks as forestry, mining, agriculture, military applications and space exploration. For these tasks, the slip phenomena is an important factor that must be taken into account during the control design. If the ...

This paper presents an acceleration slip regulation strategy for distributed drive electric vehicles with two motors on the front axle. The tasks of the strategy include controlling the slip ratio to make full use of the road grip and controlling the yaw rate to eliminate the lateral movement due to the difference between motor torques. The rate of the slip ratio change can be controlled by con...

This paper considers the problem of engine-to-slip dynamics modeling in a sport motorbike. Instead of using the classical approach of multibody modeling, this work takes the challenge of directly estimating the input/output slip dynamics by black-box identification, using data collected with experiments specifically designed for this purpose. The proposed identification protocol allows to deriv...