Authors: Vukobratovic, Miomir K.; Rodic, Aleksandar D.

Source: International Journal of Computer Applications in Technology, Volume 15, Number 6, 16 July 2003 , pp. 248-263(16)

Publisher: Inderscience Publishers

Abstract:

The paper describes for the first time the conditions for practical stability of the road vehicle as a complex system in interaction with the dynamic environment. Stability analysis is based on knowledge of the road vehicle model dynamics as well as the dynamic environment model, developed specially for that purpose and for the synthesis of the dynamic control laws applied in the system automatic control. The stability conditions for two dynamic control laws, the pure position control and the combined position/force control low, were derived. In the chosen example, the procedure for determining control parameters was described using the vehicle practical stability test. In addition, characteristic simulation results, obtained by applying the proposed dynamic position/force control law, were presented for the case of a stable closed-loop system with variable system parameters. Finally, fundamental characteristics of the novel approach are pointed out and possible research directions outlined.

Keywords: COMPUTING JOURNALS; Computing Science, Applications and Software; TECHNICAL JOURNALS; Materials and Manufacturing; Simulation and Modelling

Document Type: Research article

DOI: http://dx.doi.org/10.1504/IJCAT.2002.000300

Affiliations: 1: Robotics Department, Mihailo Pupin Institute, P.O. Box 15, 11000, Belgrade, Volgina 15, Yugoslavia. Robotics Department, Mihailo Pupin Institute, P.O. Box 15, 11000, Belgrade, Volgina 15, Yugoslavia

Publication date: 2003-07-16

More about this publication?

• The International Journal of Computer Applications in Technology addresses issues of computer applications, information and communication systems, software engineering and management, CAD/CAM/CAE, numerical analysis and simulations, finite element methods and analyses, robotics, computer applications in multimedia and new technologies, computer aided learning and training.

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