this paper presents a stable new algorithm for force/position control in robot manipulators. in this algorithm, position vectors are measured by sensors and then used in the control law. since using force sensor has some issues such as high costs and technical problems, an approach is presented to overcome these issues. in this respect, force sensor is replaced by an adaptive fuzzy estimator to...

Nonlinear vehicle control allocation is achieved through distributing the task of vehicle control among individual tire forces, which are constrained to nonlinear saturation conditions. A highlevel sliding mode control with adaptive upper bounds is considered to assess the body yaw moment and lateral force for the vehicle motion. The proposed controller only requires the online adaptation of co...

Dynamic behaviour of motorcycles front wheel are not different to similar wheel suspensionmotion of airplanes and road vehicles. In every case self excited oscillations caused bythe tire occur. Only the different design of wheel suspension produces some differentcoupling. The deviation of a moving wheel on a horizontal plane from straight rolling iscaused by unstable lateral con...

Estimation and control of wheel slip is a critical consideration in preventing loss traction, minimizing power consumptions, reducing soil disturbance. An approach to estimation control, which robust sensor noises modeling imperfection, has been investigated this study. The proposed method uses simplified form wheels longitudinal dynamic the measurement vehicle speeds estimate optimum slip. for...

The goodness-of-fit analysis performed over the results provided by a model presented in previous paper proved that theoretical data were very well correlated with experimental regard to traction force (with Pearson coefficient r2 0.9); however, was less accurate predicting efficiency, = 0.203. In order improve and obtain better fit between (especially for efficiency), updated modified taking i...

This paper investigates kinetic behavior of a planetary rover with attention to tire-soil traction mechanics and articulated body dynamics, and thereby study the control when the rover travels over natural rough terrain. Experiments are carried out with a rover test bed to observe the physical phenomena of soils and to model the traction mechanics, using the tire slip ratio as a state variable....

Euler-Lagrange coupling method is used to establish the fluid-structure interaction model for tires with different tread patterns by obtaining grounding mark and normal contact force between tire road surface during rolling. The altering of load force, pressure, water film thickness in relation effect on tire-road both constant speed critical hydroplaning was analyzed. Results show that are pos...