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OverviewIn the skid steer vehicle the velocity constraints are quite different from other vehicle in terms of its wheels having to skid laterally to follow the curved path. The wheels of the skid steer vehicle are non-steerable; the vehicle is turned as the differential torque is applied to the wheels on the opposite sides. Motion control for skid steer vehicle is particularly challenging due to the non-linearities that arise from tire slip and braking. Moreover the instantaneous center of rotation may move out of the skid steer vehicle base causing loss of motion stability. Therefore it is difficult to model the accurate path following of skid steer vehicle. This implies that the control at the kinematic level is not sufficient enough and in general demands to use the dynamic model. In this research the mathematical model of four wheel skid steer vehicle is built with parameters of P-3AT skid steer mobile robot. This model is hybrid of vehicle dynamics and the semi-empirical tire model (TM-easy tire model). The model is used to synthesize and design of the sliding mode control law with fuzzy switching regulator. Full Product DetailsAuthor: Aslam JawadPublisher: LAP Lambert Academic Publishing Imprint: LAP Lambert Academic Publishing Dimensions: Width: 15.20cm , Height: 0.70cm , Length: 22.90cm Weight: 0.191kg ISBN: 9783659638473ISBN 10: 3659638471 Pages: 124 Publication Date: 01 December 2014 Audience: General/trade , General Format: Paperback Publisher's Status: Active Availability: In stock We have confirmation that this item is in stock with the supplier. It will be ordered in for you and dispatched immediately. Table of ContentsReviewsAuthor InformationTab Content 6Author Website:Countries AvailableAll regions |