This paper presents a slip suppression controller using sliding mode control method for electric vehicles which aims to improve the control performance and the energy conservation by controlling the slip ratio of wheel. In this method, a robust sliding mode controller against the model uncertainties is designed to obtain the maximum driving force by suppressing the slip ratio. The numerical sim...

An efficient first grasp for a wheelchair robotic arm-hand with pressure sensing is determined and presented. The grasp is learned by combining the advantages of neural networks and fuzzy logic into a hybrid control algorithm which learns from its tip and slip control experiences. Neurofuzzy modifications are outlined, and basic steps are demonstrated in preparation for physical implementation....

Recent efforts in planetary robotic exploration aim toward craters, skylights, and other depressions with challenging terrain conditions. The access to such places requires traversing on extreme slopes where high levels of slip greatly hamper rover mobility and control. To successfully reach valuable targets such as water ice and mineral outcrops in these locations, slip must be promptly arrest...

A model-based control for fast autonomous four-wheel mobile robots on soft soils is developed. This control strategy takes into account slip and skid effects to extend the mobility over planar granular soils. Each wheel is independently actuated by an electric motor. The overall objective is to follow a path roughly at relatively high speed. Some results obtained in dynamic simulation are prese...

I. INTRODUCTION There are two main categories of object slip: linear and rotational. During linear slip, the object maintains its orientation with respect to the local end-effector frame but gradually slides out of the robot fingers. During rotational slip, the center of mass of the object tends to rotate about an axis normal to the grasp surface, although the point of contact with the robot's ...

Field orientation control and fuzzy logic control are designed for variable speed drive systems with a doubly fed machine in slip power recovery configuration. Laboratory implementation with a general purpose DSP (digital signal processing) system is described and experimental results are given. High performance potential of a slip power recovery system is realized with these advanced controls,...

This paper investigates slip-based traction control of a planetary rover that travels over natural rough terrain. Special attention is made on tire-soil traction mechanics and articulated body dynamics. Experiments are carried out with a rover test bed to understand the physical behavior of tire-soil interaction and, thereby, a traction model is investigated using the tire slip ratio as a state...

A challenging problem faced by wheeled mobile robots (WMRs) such as planetary rovers traversing loose sloped terrain is the inevitable longitudinal slip suffered by the wheels, which often leads to their deviation from the predetermined trajectory, reduced drive efficiency, and possible failures. This study investigates this problem using terramechanics analysis of the wheel-soil interaction. F...

This manuscript evaluates through physical experiments a navigation architecture for off-road mobile robots. It has been implemented taking into account low-cost components and computational requirements while still being able to robustly address the required tasks. The visual odometry approach uses two consumer-grade cameras for estimating robot displacement and orientation (visual compass). O...

1,2,3 B.E. Scholar BVCOE&RI Nashik(India) ABSTARCT Antiknock braking systems are used in modern cars to prevent the wheels from locking after brakes are applied. The dynamics of the controller needed for antiknock braking system depends on various factors. The vehicle model often is in nonlinear form. Controller demand to provide a controlled torque necessary to maintain optimum value of the wh...