This paper presents a novel control scheme based on the dynamics of autonomous transit vehicles. Computed torque control is a popular scheme for robot arms wherein the torque required to drive the actuators of the robot to perform a task is pre-computed based on a dynamic model of the robot. This control will assure proper trajectory following of the robot arm in the presence of changes in the dynamics of the system during operation. Very little information is available in the literature on the torque control of autonomous vehicles. It is the purpose of this paper to address the need and the applicability of torque control for autonomous vehicles to achieve proper road following. The proposed method makes use of sensor information on the dynamics of the vehicle in motion and the actual dynamics of the vehicle calculated using a model-based computed torque approach. Several control strategies are proposed. Mathematical formulations to compute the required motor currents to drive a differentially driven vehicle at the desired linear and angular accelerations is presented.


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    Title :

    Torque control of autonomous transit vehicles


    Additional title:

    Drehmomentregelung autonomer Überlandfahrzeuge


    Contributors:


    Publication date :

    1994


    Size :

    8 Seiten, 5 Bilder, 1 Tabelle, 17 Quellen



    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




    Torque control of autonomous transit vehicles

    Rajagopalan,R. / Cheng,R.M. / Concordia Univ.,CA | Automotive engineering | 1994


    Torque Control of Autonomous Transit Vehicles

    Rajagopalan, R. / Cheng, R. M. H. / ENEA; Agency: Italy | British Library Conference Proceedings | 1994


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