Fuzzy Sliding Mode Control Algorithm For Four Wheel Skid Steer Vehicle

Language: English

Published by LAP LAMBERT Academic Publishing Dez 2014, 2014

3659638471 / 9783659638473

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This item is printed on demand - Print on Demand Titel. Neuware -In the skid steer vehicle the velocity constraints are quite different from other vehicle in terms of its wheels having to skid laterally to follow the curved path. The wheels of the skid steer vehicle are non-steerable; the vehicle is turned as the differential torque is applied to the wheels on the opposite sides. Motion control for skid steer vehicle is particularly challenging due to the non-linearities that arise from tire slip and braking. Moreover the instantaneous center of rotation may move out of the skid steer vehicle base causing loss of motion stability. Therefore it is difficult to model the accurate path following of skid steer vehicle. This implies that the control at the kinematic level is not sufficient enough and in general demands to use the dynamic model. In this research the mathematical model of four wheel skid steer vehicle is built with parameters of P-3AT skid steer mobile robot. This model is hybrid of vehicle dynamics and the semi-empirical tire model (TM-easy tire model). The model is used to synthesize and design of the sliding mode control law with fuzzy switching regulator.VDM Verlag, Dudweiler Landstraße 99, 66123 Saarbrücken 124 pp. Englisch.…

Seller Inventory # 9783659638473

Title
Fuzzy Sliding Mode Control Algorithm For Four Wheel Skid Steer Vehicle
Author
Jawad Aslam
Publisher
LAP LAMBERT Academic Publishing Dez 2014
Publication year
2014
Condition
Neu
Binding
Taschenbuch
Language
English
ISBN 10
3659638471
ISBN 13
9783659638473
Item weight
203 grams
Dimensions
220x150x9 mm

buchversandmimpf2000

Emtmannsberg, BAYE, Germany

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