Study on stability for steering closed-loop system of remote-operated tracked vehicle

Author

Wu, Shao-bin ; Chen, Hui-yan ; Zheng, Mu-qiao

Author_Institution

Sch. of Mech. & Vehicular Eng., Beijing Inst. of Technol., Beijing, China

Volume

6

fYear

2009

fDate

12-15 July 2009

Firstpage

3145

Lastpage

3149

Abstract

The stability for steering control closed-loop system of remote-operated tracked vehicle was studied for the purpose of developing steering control system. Through the analyze of steering closed-loop system, the model of steering closed-loop system was developed combined with a driver model based on compensation control, a model of remote control section, and a steering model of tracked vehicle. The effects of delay time, look ahead distance, control parameters on the handling stability of steering closed-loop system were simulated by using MATLAB. The steering control method with high dynamic response and variable control parameters was designed based on the delay time of remote control section. Simulation results show that the steering control method can enhance the stability of steering closed-loop system.

Keywords

closed loop systems; compensation; control system synthesis; mobile robots; position control; remotely operated vehicles; stability; steering systems; telerobotics; MATLAB; compensation control; control design; delay time; dynamic response; look ahead distance; remote-operated tracked vehicle; steering closed-loop system; variable control parameters; vehicle handling stability; Communication system control; Control systems; Delay effects; Mathematical model; Open loop systems; Remotely operated vehicles; Road vehicles; Stability; Target tracking; Vehicle driving; Closed-loop system model; Handling stability; Remote-operated tracked vehicle; Steering control;

fLanguage

English

Publisher

ieee

Conference_Titel

Machine Learning and Cybernetics, 2009 International Conference on

Conference_Location

Baoding

Print_ISBN

978-1-4244-3702-3

Electronic_ISBN

978-1-4244-3703-0

Type

conf

DOI

10.1109/ICMLC.2009.5212705

Filename

5212705