Essays about: "Over-actuated system"

Showing result 1 - 5 of 7 essays containing the words Over-actuated system.

  1. 1. Control of an Over-Actuated Vehicle for Autonomous Driving and Energy Optimization : Development of a cascade controller to solve the control allocation problem in real-time on an autonomous driving vehicle

    University essay from KTH/Skolan för elektroteknik och datavetenskap (EECS)

    Author : Gianmarco Grandi; [2023]
    Keywords : LTV-MPC Linear Time-Varying Model Predictive Controller ; Trajectory following; Energy consumption; Vehicle stability; Vehicle model; Real-time performance; LTV-MPC Controllo a predizione del modello lineare tempo variabile ; Inseguimento di traiettoria; Consumo energetico; Stabilità del veicolo; Modello del veicolo; Prestazioni in tempo reale; LTV-MPC Linjär tidsvariabel modellförutsägande styrning ; spårföljning; energiförbrukning; fordonsstabilitet; fordonsmodell; prestanda i realtid;

    Abstract : An Over-Actuated (OA) vehicle is a system that presents more control variables than degrees of freedom. Therefore, more than one configuration of the control input can drive the system to a desired state in the state space, and this redundancy can be exploited to fulfill other tasks or solve further problems. READ MORE

  3. 2. Design and implementation of brake and steering control functions for an over-actuated vehicle platform

    University essay from KTH/Fordonsdynamik

    Author : Ziwei Lu; Tao Liu; [2021]
    Keywords : Brake Blending; Over-actuated system; Fault tolerant function; Brake force distribution; Bromsblandning; Övermanövrerat system; Feltolerant funktion; Bromskraftsfördelning;

    Abstract : This thesis project is a comprehensive practice to improve a research concept vehicle in both hardware and software aspects. The hardware of the friction brake system is improved to have higher stability and accuracy. The brake force distribution function is implemented to optimize the brake control system. READ MORE

  4. 3. Design and Analysis of Electric Over-actuated Vehicle Suspension

    University essay from KTH/Skolan för industriell teknik och management (ITM)

    Author : Ankith Suresh Athrey; [2020]
    Keywords : RCV; ITRL; MBD; CAD; FEM; RCV; ITRL; MBD; CAD; FEM;

    Abstract : The main aim of this master thesis is to improve the performance of the Research Concept Vehicle (RCV). The RCV is an electric over-actuated vehicle developed at Integrated Transport Research Lab (ITRL) at KTH Royal Institute of Technology. The vehicle steer, camber, drive, and brake on each wheel of the vehicle. READ MORE

  5. 4. Robust post impact vehicle motion control using torque vectoring

    University essay from KTH/Fordonsdynamik

    Author : Nikhil Jain; [2019]
    Keywords : ;

    Abstract : Several statistical studies have suggested that the risk of injury is significantly higher in multiple event accidents (MEAs) than in single event crashes. Improper driving in such scenarios leads to hazardous vehicle heading angles and excessive lateral deviations from thevehicle path, resulting in severe secondary crashes. READ MORE

  6. 5. Improving Traction Efficiency in Off-Road Vehicles - A Sliding Mode Approach

    University essay from KTH/Optimeringslära och systemteori

    Author : Payam Maroufi; [2018]
    Keywords : Slip efficiency; sliding mode controller; sliding mode observer; articulated vehicles; wheel loader dynamic.; Slipeffektivitet; sliding mode regulator; sliding mode observerare; ledat fordon; hjullastarens dynamik.;

    Abstract : This report evaluates the option of using an equal slip controller, an effective rolling radius and rolling resistance force observer in a 4WD wheel loader. The vehicle studied is an under development- vehicle designed by Volvo CE. READ MORE