Design of turning control for a tracked vehicle

Author

Wang, Geng G. ; Wang, Shih H. ; Chen, Cheng W.

Author_Institution

Dept. of Electr. Eng. & Comput. Sci., California Univ., Davis, CA, USA

Volume

10

Issue

3

fYear

1990

fDate

4/1/1990 12:00:00 AM

Firstpage

122

Lastpage

125

Abstract

The design of a turning control system for an M113 tracked vehicle, which is modeled as a two-input/two-output system, is treated. Since the vehicle model is nonlinear, time varying, and implicit, it is replaced by a set of linear time-invariant models that are valid over certain operation regions. The two inputs to the vehicle are throttle and steering. The two measured output variables are the vehicle´s longitudinal speed and heading rate. The quantitative feedback theory (QFT) is used to obtain a robust control system. The control loop for vehicle speed is designed to track the speed command and reject the disturbance caused by steering. The control loop for the vehicle heading rate is designed to track only the rate command, since the disturbance caused by throttle is negligible. The control system is tested by simulation and shows satisfactory results.<>

Keywords

control system synthesis; feedback; multivariable systems; position control; road vehicles; M113; MIMO systems; control loop; design; nonlinear time varying model; quantitative feedback theory; rate command; road vehicles; speed command; steering; tracked vehicle; turning control system; Control system synthesis; Control systems; Feedback; Land vehicles; Power system modeling; System testing; Tracking loops; Transfer functions; Turning; Uncertain systems;

fLanguage

English

Journal_Title

Control Systems Magazine, IEEE

Publisher

ieee

ISSN

0272-1708

Type

jour

DOI

10.1109/37.55134

Filename

55134