Position Control Considering Slip Motion of Tracked Vehicle Using Driving Force Distribution and Lateral Disturbance Suppression

Position Control Considering Slip Motion of Tracked Vehicle Using Driving Force Distribution and Lateral Disturbance Suppression

Complex slippage and nonholonomic constraints can disturb the precise movement of tracked vehicles. In this study, a position control system using driving force control and virtual-turning velocity control (VTVC) was established for a tracked vehicle. Slippage in the translational direction can be s...

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Bibliographic Details
Main Authors: Hiroaki Kuwahara, Toshiyuki Murakami
Format: Article
Language:English
Published: IEEE 2022-01-01
Series:IEEE Access
Subjects:
Autonomous vehicles
driving force control
machine learning
observers
position control
Online Access:https://ieeexplore.ieee.org/document/9715072/

Internet

https://ieeexplore.ieee.org/document/9715072/

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