Advanced control and stability of autonomous road vehicles. Part II: Practical stability of road vehicles
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.
Document Type: Research article
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
- 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.