Authors: Han-Pang Huang, Ching-Kuo Wangy
Addresses: Robotics Laboratory, Department of Mechanical Engineering, National Taiwan University, Taipei, 10660, Taiwan. Robotics Laboratory, Department of Mechanical Engineering, National Taiwan University, Taipei, 10660, Taiwan
Abstract: This paper develops a mixed fuzzy controller (MFC) to navigate escaping motions of wheeled vehicles under the assumption of Coulombs viscous friction. The piecewise mapping in geometric space instead of the traditionally pointwise coordinate transformation in algebraic space is developed for quasi-nonholonomic systems in the topological point of view. The escaping dynamics of wheeled vehicles, not only onto the constrained space but also onto the unconstrained space, occurs when the vehicle escapes from the constraint manifold during braking or cornering. Traditionally, such slippage phenomenon is usually ignored because of its high frequency and strong nonlinear features. The complementary Frobenius theorem (CFT) is assumed to release Pfaffian one-form constraints from ||hard|| to ||soft|| models. The proposed MFC consists of a traditional controller designed for the ||hard|| subsystem and a fuzzy controller designed for the ||soft|| subsystem. This paper is primarily focused on modelling, analysis and control issues of anti-lock braking problems for modern automobiles. Finally, detailed simulations of wheeled vehicles with an anti-lock braking system (ABS) under the assumption of Coulombs viscous friction are used to justify the MFC algorithm.
Keywords: constraint manifold; escaping dynamics and anti-lock braking system.
International Journal of Vehicle Design, 2001 Vol.26 No.2/3, pp.218-238
Published online: 15 Aug 2003 *Full-text access for editors Access for subscribers Purchase this article Comment on this article