Using a scale testbed Controller design and evaluation.

To circumvent the cost and inherent danger in testing aggressive vehicle controllers using full-sized vehicles, a scale vehicle testbed has been developed for use as an evaluation tool to bridge the design gap between simulation studies and full-sized hardware. We describe vehicle dynamic models of...

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Xuất bản năm:	IEEE Control systems magazine 21, 3 (2001).
Tác giả chính:	Brennan, S.
Định dạng:	Bài viết
Ngôn ngữ:	English
Những chủ đề:	Buckingham pi theorem. IRS simulation system. Controller design. Controller evaluation. Differential brake inputs. Differential torque inputs. Dynamic scale parameter distribution. Frequency response measurements. Graphical comparison. Model tracking. Parameter measurements. Scale testbed. Vehicle dynamic models. Yaw rate vehicle controller.