Wheel motion control using a hybrid actuator system

Ringdorfer, Martin; Horn, Martin

doi:10.1201/b21185-64

Cited by 4 publications

(2 citation statements)

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“…In the second step of the controller design, the derivatives of the control variable in (8) and (9) are related to the lateral GCA inputs side slip angle * and the so called instantaneous center of rotation curvature ICR * .…”

Section: B Geometric Path Following Control Algorithmmentioning

confidence: 99%

“…On the other hand, the inaccuracies in extreme driving situations are not disadvantageous for this application since these situations are usually avoided through the demanded path and limited user demand range. Furthermore, it is possible to extend the GCA as shown in [8] with closed loop control to compensate for excessive slip values. The interface of the GCA is different to that of the OCA such that a further adaption of the former path following algorithm of [6] is necessary.…”

Section: Introductionmentioning

confidence: 99%

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Experimental validation of geometric path following control with demand supervision on an over-actuated robotic vehicle

Ritzer¹,

Winter²,

Brembeck³

2016

2016 IEEE Intelligent Vehicles Symposium (IV)

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This work describes the development and experimental validation of a geometric path following control strategy with demand supervision applied to an over-actuated robotic vehicle, the ROboMObil [1]. The proposed method enables the ROboMObil to automatically follow paths while the driver is free to control the velocity along the path. Beside the longitudinal degree of freedom, two lateral degrees of freedom can be controlled relative to the path. If this demand interface were provided without supervision, the driver may potentially overwrite the path following control in a manner such that the vehicle limits are violated and the vehicle becomes unstable. To avoid such critical situations a demand supervisor is introduced into the path following framework. The work concludes by a simulative demonstration of the supervised control system and an experimental validation of the presented approach implemented in the ROboMObil.

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Section: B Geometric Path Following Control Algorithmmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%