Title :
Robust and fuzzy control of high mobility off-road tracked vehicle with trailing arm suspension unit
Author :
Zhang, Yuchun ; Wang, Liangxi ; Zhao, Lin ; Cong, Hua
Author_Institution :
Dept. of Mech. Eng., Acad. of Armed Force Eng., Beijing, China
Abstract :
This paper develops a ride dynamics model and presents a method to apply a linear robust control and fuzzy logic control to a high mobility off-road tracked vehicle. To avoid the complexity of modeling track system, it is classified as unknown dynamics and disturbances. Firstly, a nonlinear off-road tracked vehicle model-including bump stop and shock absorber nonlinearities is developed. Subsequently, a new robust fuzzy logic control strategy is developed and applied to tracked vehicle. In the process of designing robust controller, a linearized model is used with uncertainties and disturbances. The errors between linearized model and actual nonlinear tracked vehicle model are compensated by fuzzy logic controller. Finally, control performances to isolate vibration from bump are evaluated through computer simulation under Matlab and ADAMS environments.
Keywords :
control engineering computing; control nonlinearities; control system synthesis; digital simulation; fuzzy control; linear systems; mechanical engineering computing; nonlinear control systems; road vehicles; robust control; shock absorbers; uncertain systems; vehicle dynamics; vibration isolation; ADAMS environment; Matlab environment; bump stop nonlinearities; computer simulation; high mobility off-road tracked vehicle; linear robust controller design; linearized model; nonlinear off-road tracked vehicle model; ride dynamics model; robust fuzzy logic control; shock absorber nonlinearities; track system modeling; trailing arm suspension unit; uncertain system; vibration isolation; Computer errors; Fuzzy control; Fuzzy logic; Mathematical model; Nonlinear dynamical systems; Process design; Robust control; Shock absorbers; Uncertainty; Vehicle dynamics;
Conference_Titel :
Intelligent Control and Automation, 2004. WCICA 2004. Fifth World Congress on
Print_ISBN :
0-7803-8273-0
DOI :
10.1109/WCICA.2004.1340632