Hello,
hoping that you will be in good health,
i have a 7-DOF independent wheel drive electric car model can be linear/nonlinear with longitudinal velocity, lateral velocity, yaw rate and angular rotation of the four wheels as the states of the system. the input to the system is the torque of each wheel .
i already designed a controller linear(LQR)/ nonlinear(SMC) which will turn the car with 90 degree yaw angle.
i want to find the trajectories/conditions that will achieve the control objective in minimum possible time/distance and minimum possible yaw rate, its kind of optimization "i think" can you please suggest any method or technique for doing this problem, or any starting point, i am using MATLAB/SIMULINK for my simulation ....
actually i am following the work done in this paper but they used some other tools for there work.
http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=1528936
Dear Arshad Khan,
I suggest for you a links and attached files in topics.
- Alonzo Kelly's Detailed Research Interests - Field Robotics Center
www.frc.ri.cmu.edu/~alonzo/resume/detailedresearchinterests.html
- Using a PID-based Technique For Competitive Odometry and Dead ...
www.seattlerobotics.org/encoder/200108/using_a_pid.htm
- An Efficient Minimum-Time Trajectory Generation Strategy for Two ...
https://www.researchgate.net/.../273088878_An_Efficient_Minimum-Time_Trajectory_
Best regards
Dear Mohamed-Mourad Lafifi
thank you very much for your response, i will look into it...
Dear Arshad Khan,
Why don't you use Nonlinear Model Predictive Controllers? It based on minimization algorithms (optimal control) and can also penalize motion behavior independent of the guiven path.
Dear Tiago P. Nascimento
thank you for your ans...can you suggest some papers ...?
- Badges
- Science topic
- Similar topics
- Engineering
- Control Theory
- Control Systems
- Control Systems Engineering