Torque control of autonomous transit vehicles
Torque control of autonomous transit vehicles
- Neue Suche nach: Rajagopalan, R.
- Neue Suche nach: Cheng, R.M.H.
- Neue Suche nach: Rajagopalan, R.
- Neue Suche nach: Cheng, R.M.H.
This paper presents a novel control scheme based on the dynamics of autonomous transit vehicles. Computed torque control is a popular scheme for robot arms wherein the torque required to drive the actuators of the robot to perform a task is pre-computed based on a dynamic model of the robot. This control will assure proper trajectory following of the robot arm in the presence of changes in the dynamics of the system during operation. Very little information is available in the literature on the torque control of autonomous vehicles. It is the purpose of this paper to address the need and the applicability of torque control for autonomous vehicles to achieve proper road following. The proposed method makes use of sensor information on the dynamics of the vehicle in motion and the actual dynamics of the vehicle calculated using a model-based computed torque approach. Several control strategies are proposed. Mathematical formulations to compute the required motor currents to drive a differentially driven vehicle at the desired linear and angular accelerations is presented.
Dokumentinformationen
Torque control of autonomous transit vehicles
Drehmomentregelung autonomer Überlandfahrzeuge
1994
8 Seiten, 5 Bilder, 1 Tabelle, 17 Quellen
Aufsatz (Konferenz)
Englisch
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