Robust Control of a Single-Wheel Module Operating in an Off-Road Terrain with Uncertain and Stochastic Attributes

Abstract

This presentation covers the agile control system solution developed in this project. A superimposed mobility control algorithm combining robust feedback controller and fuzzy logic corrector was designed, which provided a robust force/torque filed estimation. The coupled mobility control algorithm and force/torque field estimation provided an agile solution able to respond faster than the tire relaxation time to terrain stochastic behavior and temporal transitions. Using an inverse dynamics approach, the wheel normal reaction was linked to trafficability prediction and provided the boundaries for normal reaction force.

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Document Details

Document Type
Technical Report
Publication Date
Jan 21, 2022
Accession Number
AD1162681

Entities

People

  • Amandeep Singh
  • Jesse Paldan
  • Jill Goryca
  • Lee Moradi
  • Masood Ghasemi
  • Tom Canada
  • Vladimir Vantsevich

Tags

Communities of Interest

  • Autonomy
  • C4I
  • Materials and Manufacturing Processes

DTIC Thesaurus Topics

  • Abstracts
  • Algorithms
  • Artificial Intelligence
  • Bearing Capacity
  • Bearings
  • Boundaries
  • Closed Loop Systems
  • Collision Avoidance
  • Computations
  • Control Systems
  • Dc Motors
  • Dynamics
  • Electric Motors
  • Energy Efficiency
  • Feedback
  • Friction
  • Fuzzy Logic
  • Motors
  • Relaxation Time
  • Simulations
  • Vehicles

Readers

  • Operations Research
  • Robotics and Automation.
  • Vision Science/Vision Psychology/Cognitive Neuroscience.