Proposal of impedance control for electric vehicles with wheel resolver - application to hand assisted parking and position adjustment -

Enmei, Tomoki; Fujimoto, Hiroshi; Hori, Yoichi

doi:10.1109/iecon.2016.7793970

Cited by 4 publications

(1 citation statement)

References 8 publications

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“…As reported in [27], fuzzy predictive control on impedance control was applied and showed effectiveness for unstructured environment problems as the instructions are verified. Moreover, Hori et al, in their works, have used impedance control for the high back drivability with driving force control in which external forces applied by human hands and driving forces are estimated by disturbance observer with some proposed assist control methods [28]. On the other hand, a hybrid method was proposed in [29] in which to cater to the pinion angle of the rack-mounted electric power steering control for both lateral and impedance control of an autonomous vehicle.…”

Section: Inertia Issues On Omnidirectional Wheeled Vehicle/robotmentioning

confidence: 99%

Inertia Reduction using Interaction Control Approach for Mecanum Wheeled Vehicle on Cornering Road

Adam

Irawan

2022

IJRCS

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The paper presents a dynamic control approach using impedance control to reduce inertia factors acting on a Mecanum Wheeled Vehicle (MWV) on cornering roads. Inertia in a mobile vehicle is one of the issues that affect the safety and energy efficiencies of the vehicle, especially when maneuvering on cornering and confined paths. With reference to the problem statements in the dynamics analyses, velocity-based impedance control was proposed where the derived interaction translational forces on the vehicle that consider friction and touching forces on vehicle-terrain are controlled through the velocities of the vehicle. This study emphasized shaping the axial velocities input of the MWV for both longitudinal and latitude motions to control the sensitivity of the vehicle during cornering periods. The verification was done through several simulations on the proposed velocity-based impedance control on the MWV plant. The results show that the different forces on MWV axial motion were capable of reducing inertia via velocity input during the cornering period of maneuvering by increasing the stiffness and damping ratio of the controller at about 2 and 9 for stiffness x-axis and y-axis, respectively, and 15 and 10 for damping ration of the x-axis and y-axis respectively. Moreover, with the proposed controller, inertia on MWV can be controlled on the slippery road such as asphalt roads. This scenario has influenced the overall kinetic energy of the vehicle down to about 26%, thus, able to control the overdriven occurred on cornering road.

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Section: Inertia Issues On Omnidirectional Wheeled Vehicle/robotmentioning

confidence: 99%