Essays about: "over-actuated vehicles"

Found 4 essays containing the words over-actuated vehicles.

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. 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

4. 3. 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

5. 4. An Investigation into the Optimal Control Methods in Over-actuated Vehicles : With focus on energy loss in electric vehicles

   University essay from KTH/Fordonsdynamik; KTH/Integrated Transport Research Lab, ITRL

   Author : Sriharsha Bhat; [2016]
   Keywords : Optimal control; over-actuated vehicles; Dynamic Programming; Model Predictive Control; active;

   Abstract : As vehicles become electrified and more intelligent in terms of sensing, actuation and processing; a number of interesting possibilities arise in controlling vehicle dynamics and driving behavior. Over-actuation with inwheel motors, all wheel steering and active camber is one such possibility, and can facilitate control combinations that push boundaries in energy consumption and safety. READ MORE