Disturbance rejection control of a light armoured vehicle using stability augmentation based active suspension system by Hudha, Khisbullah, Jamaluddin, Hishammudin, Mohd. Samin, Pakharuddin

“…This paper introduces the mathematical model of 12 Degrees of Freedom (DOF) light armoured vehicle, which consists of eight DOF in vertical motion of eight tyres, three DOF in vertical, roll and pitch motions of vehicle body and one DOF in angular motion of gun turret relative to weapon platform. Two sources of disturbance considered in this study are road irregularities and reaction force at the weapon platform. …”

Design, Control and Stabilization of a Transformable Wheeled Fire Fighting Robot with a Fire-Extinguishing, Ball-Shooting Turret by Alper Kadir Tanyıldızı

“…The robot has a two-degrees-of-freedom (DoF) fire extinguisher gun turret. To control the disruptive effect of mechanical oscillations on the firing system during movement of the robot body, PID and SMC controllers are used. …”
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