Slip ratio control of a ground vehicle is an important concern for the development of antilock braking system (ABS) to avoid skidding when there is a transition of road surfaces. In the past, the slip ratio models of such vehicles were derived to implement ABS. It is found that the dynamics of the hybrid electric vehicle (HEV) is nonlinear, time varying and uncertain as the tire-road dynamics i...

adhesion level for the proper running of rail wheelset on track is crucial problem in detecting slippage to avoid accidents. the slippage of rail wheels has been observed applying forward and lateral motions to slip velocity and torsion motion. the longitudinal and lateral forces behavior is watched with respect to traction force to note correlation based on angle of attack. the deriving torque...

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...

Introduction: Curiosity has been traversing across the northern plains of Gale Crater since August 2012 and on 1/6/17 (Sol 1571) has traveled over ~15 km (based on wheel odometry). The rover is approaching a prominent hematite-bearing ridge, which it will ascend to make measurements, thereafter continuing south up the slopes of Mount Sharp. Curiosity has already encountered multiple mobility is...

For the six-wheel CRAB rover, this paper presents the torque control with Kriging estimation to improve the terrainability by minimizing wheel slip. In previous works, we presented a torque control approach, effectively improving terrainability by minimizing the variance of the required friction coefficient based on the static model. Using a Kalman filter to estimate the velocity information, a...

We present a hybrid systems solution to the problem of trajectory tracking for a four-wheel steered four-wheel driven mobile robot. The robot is modelled as a non-holonomic dynamic system subject to pure rolling, no-slip constraints. Under normal driving conditions, a nonlinear trajectory tracking feedback control law based on dynamic feedback linearization is sufficient to stabilize the system...

This paper describes a dynamic model and crosscoupling control of a mobile robot with four independently steered and driven wheels. The dynamic model incorporates the components of the wheel mechanisms, backlash effects of the wheel actuators and nonlinear forces produced by the tire-ground interaction. The problem of computationally efficient control of the vehicle is solved using a low-level ...

Abstract This paper presents a new Sliding Mode Control (SMC) method based on Model Predictive Control (MPC) algorithm for the slip suppression of EVs. The proposed method focusses on improving the acceleration performance and low energy consumption of EVs by controlling the slip ratio of wheel under driving. In this paper, the extended SMC method is proposed to improve the control performance ...