Aiming at the yaw stability problem of a four-wheel independent-drive electric vehicle (EV) during steering, this paper proposes an adaptive sliding mode control strategy (ASMC) for based on phase plane. The adopts hierarchical control. upper layer is ASMC controllers particle swarm optimization (PSO). chattering controller, approach law designed as law, which changes with change system state b...

In this paper a control strategy of Automated Guided Vehicle (AGV) is proposed. The vehicle movement controlled by an inboard PLC do not need physical guide. The vehicle has 3 wheels. The front wheel is used for steering and driving. The 2 rear wheels are free and equipped with 2 encoders. The strategy is based on 2 main purposes: the path is stored in the PLC memory and the vehicle displacemen...

This paper explores the possibility of combining solid state accelerometers with a low resolution position sensor to provide clean estimates of automobile handwheel position, velocity and acceleration for use in force feedback. Typically determining the acceleration and velocity of the handwheel requires differentiating a position sensor such as an encoder or potentiometer. Unless expensive hig...

A candidate for intelligent control for lateral guidance of a vehicle is a fuzzy logic controller (FLC). The details of the most recent FLC with a rule base derived from heuristics and designer insight to the problem at hand, as well as a method for estimating a projected lateral displacement are presented along with simulation results. The structure of this FLC is suited to incorporate human k...

Computational steering allows researchers to monitor and manage long running, resource intensive applications at runtime. Limited research has addressed high performance computational steering. High performance in computational steering is necessary for three reasons. First, a computational steering system must act intelligently at runtime in order to minimize its perturbation of the target app...

According to the independence, accuracy and controllability of the driving/braking torque of the distributed drive electric vehicle, a control strategy of differential drive assisted steering was designed. Firstly, the assisted curve under different speed and steering wheel torque was developed and the differential torques were distributed to the right and left front wheels. Then the steering r...

Recently, automatic steering systems for emergency obstacle avoidance have been studied extensively. The control input of such active steering control systems can be classified into the steering angle and the steering torque input. The steering torque based control provides some degree of freedom for drivers to control the vehicle motion, thus it has potential for development as steering assist...

metal forming processes, compared with machining ones, reduce production steps and increasemanufacturing speed in addition to saving raw material. in this paper, forming process of column ofa steering mechanism is investigated by finite element analyses and experimental tests; andoptimum die design parameters are found. forming process parameters including die opening angle,bearing length, clea...

The performance degradation in traditional adaptive beamformers can be attributed to the imprecise knowledge of the array steering vector and inaccurate estimation of the covariance matrix. The inaccurate estimation of the covariance matrix is due to the limited data samples and presence of desired signal components in the training data, especially when the desired signal is the dominant signal...

[Abstract] An automated E/H steering controller is essential for autonomous off-road equipment. This paper presents a methodology for designing the E/H steering controller through a combination of testing and simulation. The steering kinematic model provides the steering linkage gain between the hydraulic actuator and the front wheel. The model makes it possible to close the steering control lo...