This chapter focuses on two types of vehicle: hydraulic diggers and cars. First, it presents the excavator‐loader that is the subject of the discussion. Then, it turns to the dynamics of the vehicle, considering different control laws to assist car driving. Firstly, the modeling of the vehicle dynamics is touched upon, with the discussion encompassing a number of different models widely used in the literature in both linear and nonlinear forms. These models are then validated by an industrial simulator and then experimentally. The final section is given over to robust control of the vehicle's dynamics with an uncertain multi‐model representation. Different control laws are applied: the first is reconstructed state feedback control; the second is an H 8‐type law and the third control law is an observer‐based robust control.
Application to Vehicles
Command‐Control for Real‐Time Systems ; 203-321
2013-05-13
119 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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