ICRA 2012 Paper Abstract

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Paper TuA03.4

Lam, Tin Lun (The Chinese University of Hong Kong / Shenzhen Institute ofAdvan), Xu, Yangsheng (Chinese University of Hong Kong/ShenzhenInstituteofAdvanced Tech), QIAN, Huihuan (CUHK)

Direct Yaw Moment Control for Four Wheel Independent Steering and Drive Vehicles Based on Centripetal Force Detection

Scheduled for presentation during the Regular Session "Learning and Adaptive Control of Robotic Systems I" (TuA03), Tuesday, May 15, 2012, 09:15−09:30, Meeting Room 3 (Mak'to)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on December 13, 2017

Keywords Wheeled Robots, Force Control

Abstract

In this paper, a deterministic yaw moment controller for four wheel independent steering and drive vehicles is proposed to enhance driving stability and controllability. Different to conventional methods that track a desired yaw rate, the proposed controller stabilizes a vehicle by additionally tracking the heading angle of a vehicle which is more efficient and robust. The heading angle of a vehicle is obtained by a novel method which is based on centripetal force detection. It eliminates the prerequisite knowledge of the characteristics between wheels and road surface which are time varying and difficult to be measured in real time. The proposed system only requires low cost sensing equipment such as wheel speed sensor and accelerometer that makes the system practical to be utilized. The proposed heading angle detection method can be generally applied to any kind of vehicle. The deterministic yaw moment controller is also applicable to any type of four wheel independent drive vehicles.

 

 

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