A Composite Linear and Nonlinear Approach to Full-Vehicle Simulator Control

Abstract

This paper presents an approach to full-vehicle simulator control which accounts for nonlinearities in a vehicle/simulator system. The control scheme presented is based on the estimation of the system inverse dynamics. A composite linear/nonlinear approach to inverse system identification (SYS-ID) is presented. The linear portion of the SYS-ID uses time-domain methods to estimate the impulse response of the inverse system in a least squares sense. These results are then extended by using the regularized approach to least squares estimation. The nonlinear part uses the support vector machine to approximate the nonlinear deviations from the linear model. Two approaches to using this composite model are presented. Examples of the linear SYS-ID techniques are shown for a 2x2 system.

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Document Details

Document Type
Technical Report
Publication Date
Jan 10, 2005
Accession Number
ADA461092

Entities

People

  • Mark Brudnak

Organizations

  • Tank-automotive and Armaments Command

Tags

Communities of Interest

  • Materials and Manufacturing Processes

DTIC Thesaurus Topics

  • Abstracts
  • Algorithms
  • Composite Materials
  • Dynamics
  • Engineering
  • Estimators
  • Excitation
  • Frequency
  • Frequency Domain
  • Frequency Response
  • Identification
  • Kernel Functions
  • Mathematics
  • Multiple Input Multiple Output
  • Standards
  • Supervised Machine Learning
  • Time Domain

Readers

  • Control Systems Engineering.
  • Finite Element Method (FEM) for solving Partial Differential Equations (PDEs)
  • Linear Algebra

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Bayesian Inference
  • AI & ML - Machine Learning Algorithms