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Robust Control of a Single-Wheel Module Operating in an Off-Road Terrain with Uncertain and Stochastic Attributes.
| 题名： | Robust Control of a Single-Wheel Module Operating in an Off-Road Terrain with Uncertain and Stochastic Attributes. |
| 作者： | Ghasemi, M; Vantsevich, V; Moradi, L; Paldan, J; Canada, T; Goryca, J; Singh, A. |
| 摘要： | This presentation covers the agile control system solution developed in this project. A superimposed mobility control algorithmcombining robust feedback controller and fuzzy logic corrector was designed, which provided a robust force/torque filedestimation. The coupled mobility control algorithm and force/torque field estimation provided an agile solution able to respondfaster than the tire relaxation time to terrain stochastic behavior and temporal transitions. Using an inverse dynamics approach,the wheel normal reaction was linked to trafficability prediction and provided the boundaries for normal reaction force. |
| 总页数： | 33 pages |
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