| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 721823 | IFAC Proceedings Volumes | 2006 | 6 Pages |
Abstract
In order to simulate road vehicles in a hardware-in-the-loop test setup, TNO has developed a wheeled mobile robot with independently driven and steered wheels. This robot is overactuated, i.e. the number of actuators exceeds the number of spatial degrees of freedom to be controlled. A position controller based on feedback linearization is presented. This controller takes the overactuatedness into account by using the so-called multicycle approach, which essentially regards the robot as a combination of independent unicycles. As a result, the robot is position controlled while the redundant actuators are used to compensate for weight transfer during acceleration and cornering.
Related Topics
Physical Sciences and Engineering
Engineering
Computational Mechanics
Authors
Jeroen Ploeg, John P.M. Vissers, Henk Nijmeijer,