Yaw Rate Prediction and Tilting Feedforward Synchronous Control of Narrow Tilting Vehicle Based on RNN
The synchronous control of yaw motion and tilting motion is an important problem related to the lateral stability and energy consumption of narrow tilting vehicles. This paper proposes a method for the tilting control of narrow tilting vehicles: tilting feedforward synchronous control. This method u...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-03-01
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| Series: | Machines |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2075-1702/11/3/370 |
| _version_ | 1797610601825959936 |
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| author | Ruolin Gao Haitao Li Ya Wang Shaobing Xu Wenjun Wei Xiao Zhang Na Li |
| author_facet | Ruolin Gao Haitao Li Ya Wang Shaobing Xu Wenjun Wei Xiao Zhang Na Li |
| author_sort | Ruolin Gao |
| collection | DOAJ |
| description | The synchronous control of yaw motion and tilting motion is an important problem related to the lateral stability and energy consumption of narrow tilting vehicles. This paper proposes a method for the tilting control of narrow tilting vehicles: tilting feedforward synchronous control. This method utilizes a proposed novel prediction method for yaw rate based on a recurrent neural network. Meanwhile, considering that classical recurrent neural networks can only predict yaw rate at a given time, and that yaw rate prediction generally needs to analyze a large amount of computer vision data, in this paper, the yaw rate is represented by a polynomial operation to predict the continuous yaw rate in the time domain; this prediction is realized using only the driving data of the vehicle itself and does not include the data generated by computer vision. A prototype experiment is provided in this work to prove the advantages and feasibility of the proposed tilting feedforward synchronous control method for narrow tilting vehicles. The proposed tilting feedforward synchronous control method can ensure the synchronous response of the yaw motion and the tilting motion of narrow tilting vehicles. |
| first_indexed | 2024-03-11T06:16:33Z |
| format | Article |
| id | doaj.art-ae92daba17c94355b7ed03f612f95d2e |
| institution | Directory Open Access Journal |
| issn | 2075-1702 |
| language | English |
| last_indexed | 2024-03-11T06:16:33Z |
| publishDate | 2023-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj.art-ae92daba17c94355b7ed03f612f95d2e2023-11-17T12:15:33ZengMDPI AGMachines2075-17022023-03-0111337010.3390/machines11030370Yaw Rate Prediction and Tilting Feedforward Synchronous Control of Narrow Tilting Vehicle Based on RNNRuolin Gao0Haitao Li1Ya Wang2Shaobing Xu3Wenjun Wei4Xiao Zhang5Na Li6College of Engineering, China Agricultural University, Beijing 100083, ChinaCollege of Engineering, China Agricultural University, Beijing 100083, ChinaBeijing Zuoqi Technology Co., Ltd., Beijing 100083, ChinaBeijing Zuoqi Technology Co., Ltd., Beijing 100083, ChinaCollege of Engineering, China Agricultural University, Beijing 100083, ChinaCollege of Engineering, China Agricultural University, Beijing 100083, ChinaCollege of Engineering, China Agricultural University, Beijing 100083, ChinaThe synchronous control of yaw motion and tilting motion is an important problem related to the lateral stability and energy consumption of narrow tilting vehicles. This paper proposes a method for the tilting control of narrow tilting vehicles: tilting feedforward synchronous control. This method utilizes a proposed novel prediction method for yaw rate based on a recurrent neural network. Meanwhile, considering that classical recurrent neural networks can only predict yaw rate at a given time, and that yaw rate prediction generally needs to analyze a large amount of computer vision data, in this paper, the yaw rate is represented by a polynomial operation to predict the continuous yaw rate in the time domain; this prediction is realized using only the driving data of the vehicle itself and does not include the data generated by computer vision. A prototype experiment is provided in this work to prove the advantages and feasibility of the proposed tilting feedforward synchronous control method for narrow tilting vehicles. The proposed tilting feedforward synchronous control method can ensure the synchronous response of the yaw motion and the tilting motion of narrow tilting vehicles.https://www.mdpi.com/2075-1702/11/3/370narrow tilting vehiclestilting controlsynchronous controlprediction of yaw raterecurrent neural network |
| spellingShingle | Ruolin Gao Haitao Li Ya Wang Shaobing Xu Wenjun Wei Xiao Zhang Na Li Yaw Rate Prediction and Tilting Feedforward Synchronous Control of Narrow Tilting Vehicle Based on RNN Machines narrow tilting vehicles tilting control synchronous control prediction of yaw rate recurrent neural network |
| title | Yaw Rate Prediction and Tilting Feedforward Synchronous Control of Narrow Tilting Vehicle Based on RNN |
| title_full | Yaw Rate Prediction and Tilting Feedforward Synchronous Control of Narrow Tilting Vehicle Based on RNN |
| title_fullStr | Yaw Rate Prediction and Tilting Feedforward Synchronous Control of Narrow Tilting Vehicle Based on RNN |
| title_full_unstemmed | Yaw Rate Prediction and Tilting Feedforward Synchronous Control of Narrow Tilting Vehicle Based on RNN |
| title_short | Yaw Rate Prediction and Tilting Feedforward Synchronous Control of Narrow Tilting Vehicle Based on RNN |
| title_sort | yaw rate prediction and tilting feedforward synchronous control of narrow tilting vehicle based on rnn |
| topic | narrow tilting vehicles tilting control synchronous control prediction of yaw rate recurrent neural network |
| url | https://www.mdpi.com/2075-1702/11/3/370 |
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