Vehicle Lateral Stability Regions for Control Applications

Autor: Jorge Augusto Vasconcelos Alves, Caio Igor Goncalves Chinelato, Bruno Augusto Angelico

Publikováno v: IEEE Access, Vol 10, Pp 87787-87802 (2022)

This article presents an improved method of obtaining lateral stability regions for road vehicles, considering the influence of steering angle, center of gravity, longitudinal speed, and tire-road friction coefficient on the vehicle dynamics. Compreh

Externí odkaz: https://doaj.org/article/9e6dfb541350400b94d0ef49e2b0ad2e

Differential-drive mobile robot control using a cloud of particles approach

Autor: Jorge Augusto Vasconcelos Alves, Walter Fetter Lages

Publikováno v: Repositório Institucional da UFRGS
Universidade Federal do Rio Grande do Sul (UFRGS)
instacron:UFRGS
International Journal of Advanced Robotic Systems, Vol 14 (2016)

Common control systems for mobile robots include the use of some deterministic control law coupled with some pose estimation method, such as the extended Kalman filter, by considering the certainty equivalence principle. Recent approaches consider th

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::51d0dd981389f84aabfdc560f8f0eab7

REAL-TIME CONTROL OF A MOBILE ROBOT USING LINEARIZED MODEL PREDICTIVE CONTROL

Autor: Jorge Augusto Vasconcelos Alves, Walter Fetter Lages

Publikováno v: IFAC Proceedings Volumes. 39:968-973

This paper proposes an optimal control strategy for a differential-drive mobile robot. It is well known that such a system can not be feedback stabilized by a smooth time-invariant control law. By using model predictive control (MPC), an appropriate

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_________::03deaef038b7ee4180e1ea1c4897e889
https://doi.org/10.3182/20060912-3-de-2911.00166