Delay-Dependent Criteria for Robust Dynamic Stability Control of Articulated Vehicles

Sharifzadeh, Mojtaba; Farnam, Arash; Senatore, Adolfo; Timpone, Francesco; Akbari, Ahmad

doi:10.1007/978-3-319-61276-8_46

Cited by 12 publications

(9 citation statements)

References 16 publications

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“…In particular, wheeled mobile robots, which represent the mobile robots of interest for this investigation, must be modeled as nonholonomic mechanical systems to capture the pure rolling conditions of the wheels. Thus, the nonlinear control problem of this family of mechanical systems represents a challenging engineering issue [64][65][66][67]. In the literature, the nonlinear control methods employed for this class of mechanical systems are based on non-standard approaches that cannot be easily extended to both holonomic and nonholonomic mechanical systems [68][69][70].…”

Section: Literature Reviewmentioning

confidence: 99%

Forward and Inverse Dynamics of a Unicycle-Like Mobile Robot

Pappalardo

Guida

2019

Machines

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In this research work, a new method for solving forward and inverse dynamic problems of mechanical systems having an underactuated structure and subjected to holonomic and/or nonholonomic constraints is developed. The method devised in this paper is based on the combination of the Udwadia-Kalaba Equations with the Underactuation Equivalence Principle. First, an analytical method based on the Udwadia-Kalaba Equations is employed in the paper for handling dynamic and control problems of nonlinear nonholonomic mechanical systems in the same computational framework. Subsequently, the Underactuation Equivalence Principle is used for extending the capabilities of the Udwadia-Kalaba Equations from fully actuated mechanical systems to underactuated mechanical systems. The Underactuation Equivalence Principle represents an efficient method recently developed in the field of classical mechanics. The Underactuation Equivalence Principle is used in this paper for mathematically formalizing the underactuation property of a mechanical system considering a particular set of nonholonomic algebraic constraints defined at the acceleration level. On the other hand, in this study, the Udwadia-Kalaba Equations are analytically reformulated in a mathematical form suitable for treating inverse dynamic problems. By doing so, the Udwadia-Kalaba Equations are employed in conjunction with the Underactuation Equivalence Principle for developing a nonlinear control method based on an inverse dynamic approach. As shown in detail in this investigation, the proposed method can be used for analytically solving in an explicit manner the forward and inverse dynamic problems of several nonholonomic mechanical systems. In particular, the tracking control of the unicycle-like mobile robot is considered in this investigation as a benchmark example. Numerical experiments on the dynamic model of the unicycle-like mobile robot confirm the effectiveness of the nonlinear dynamic and control approaches developed in this work.

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Section: Literature Reviewmentioning

confidence: 99%

Forward and Inverse Dynamics of a Unicycle-Like Mobile Robot

Pappalardo

Guida

2019

Machines

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“…In order to solve this important problem, different analytical approaches, computational methods, and experimental solutions have been extensively developed and tested in recent years. For instance, the methods based on the State-Dependent Riccati Equation (SDRE), the feedback linearization method, the sliding mode control approach, and nonlinear control methods based on the control-Lyapunov function represent effective control strategies suitable for solving the vibration control problem associated with a nonlinear mechanical system [18][19][20][21][22][23][24][25][26][27][28][29]. Moreover, the vibration control problem is particularly challenging in the case of rigid-flexible multibody mechanical systems.…”

Section: Literature Reviewmentioning

confidence: 99%

Use of the Adjoint Method for Controlling the Mechanical Vibrations of Nonlinear Systems

Pappalardo

Guida

2018

Machines

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In this work, the analytical derivation and the computer implementation of the adjoint method are described. The adjoint method can be effectively used for solving the optimal control problem associated with a large class of nonlinear mechanical systems. As discussed in this investigation, the adjoint method represents a broad computational framework, rather than a single numerical algorithm, in which the control problem for nonlinear dynamical systems can be effectively formulated and implemented employing a set of advanced analytical methods as well as an array of well-established numerical procedures. A detailed theoretical derivation and a comprehensive description of the numerical algorithm suitable for the computer implementation of the methodology used for performing the adjoint analysis are provided in the paper. For this purpose, two important cases are analyzed in this work, namely the design of a feedforward control scheme and the development of a feedback control architecture. In this investigation, the control problem relative to the mechanical vibrations of a nonlinear oscillator characterized by a generalized Van der Pol damping model is considered in order to illustrate the effectiveness of the computational algorithm based on the adjoint method by means of numerical experiments.

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“…Furthermore, the use of low-cost electronic components does not affect the possibility to obtain good models by means of identification techniques [20][21][22][23][24]. The identification of models and very detailed multi-body models, created by using 3D CAD models [25][26][27][28][29][30][31], are the starting point for designing optimal control laws [32][33][34][35][36][37][38][39][40][41][42]. Most multi-body simulation software considers systems made up of rigid bodies, but it is possible to study the behavior of flexible multi-body systems by using ANCFtechniques [43][44][45][46].…”

Section: Introductionmentioning

confidence: 99%

Obstacle Avoidance System for Unmanned Ground Vehicles by Using Ultrasonic Sensors

2018

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Artificial intelligence is the ability of a computer to perform the functions and reasoning typical of the human mind. In its purely informatic aspect, it includes the theory and techniques for the development of algorithms that allow machines to show an intelligent ability and/or perform an intelligent activity, at least in specific areas. In particular, there are automatic learning algorithms based on the same mechanisms that are thought to be the basis of all the cognitive processes developed by the human brain. Such a powerful tool has already started to produce a new class of self-driving vehicles. With the projections of population growth that will increase until the year 2100 up to 11.2 billion, research on innovating agricultural techniques must be continued. In order to improve the efficiency regarding precision agriculture, the use of autonomous agricultural machines must become an important issue. For this reason, it was decided to test the use of the "Neural Network Toolbox" tool already present in MATLAB to design an artificial neural network with supervised learning suitable for classification and pattern recognition by using data collected by an ultrasonic sensor. The idea is to use such a protocol to retrofit kits for agricultural machines already present on the market.

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Delay-Dependent Criteria for Robust Dynamic Stability Control of Articulated Vehicles

Cited by 12 publications

References 16 publications

Forward and Inverse Dynamics of a Unicycle-Like Mobile Robot

Forward and Inverse Dynamics of a Unicycle-Like Mobile Robot

Use of the Adjoint Method for Controlling the Mechanical Vibrations of Nonlinear Systems

Obstacle Avoidance System for Unmanned Ground Vehicles by Using Ultrasonic Sensors

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