Steering Vehicle with Force-based Impedance Control for Inertia Reduction

This paper presents the inertia control on a steering rack vehicle using interaction control approach through forcebased impedance control. Overdriven factor in a vehicle motion especially on a cornering track, is one of the issues that need to be tackled for safety and energy efficiency. Hence, in...

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Main Authors:	Norsharimie, Mat Adam, Addie, Irawan
Format:	Conference or Workshop Item
Language:	English
Published:	IEEE 2018
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://umpir.ump.edu.my/id/eprint/22499/ http://umpir.ump.edu.my/id/eprint/22499/1/Steering%20Vehicle%20with%20Force-based%20Impedance.pdf

id	ump-22499
recordtype	eprints
spelling	ump-224992018-11-01T03:52:51Z http://umpir.ump.edu.my/id/eprint/22499/ Steering Vehicle with Force-based Impedance Control for Inertia Reduction Norsharimie, Mat Adam Addie, Irawan TK Electrical engineering. Electronics Nuclear engineering This paper presents the inertia control on a steering rack vehicle using interaction control approach through forcebased impedance control. Overdriven factor in a vehicle motion especially on a cornering track, is one of the issues that need to be tackled for safety and energy efficiency. Hence, in the attempt to cope with the issue, this study proposes to implement a dynamic control technique that considers the interaction between the vehicle and its terrain by using indirectly shaping inertia forces. The proposed force-based impedance control is derived by considering the forces developed by the rack steering vehicle and shaping the vehicle velocities as its kinodynamic inputs. The implementation of the proposed dynamic control, emphasis is given to the vertical and horizontal axes of the vehicle body, during which inertia could happen as its velocity is at its lowest. This proposed dynamic control strategy is verified by simulating on the steering system model with road terrain and aerodynamic frictions as disturbances. The simulation results shows that the proposed system is able to reduce the inertia forces via shaping the velocity inputs to the vehicle, even though road terrain and aerodynamic frictions are present in the cornering tracks. IEEE 2018 Conference or Workshop Item PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/22499/1/Steering%20Vehicle%20with%20Force-based%20Impedance.pdf Norsharimie, Mat Adam and Addie, Irawan (2018) Steering Vehicle with Force-based Impedance Control for Inertia Reduction. In: IEEE International Conference on Automatic Control and Intelligent Systems (I2CACIS 2018), 20 October 2018 , Shah Alam, Malaysia. pp. 1-5..
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English
topic	TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TK Electrical engineering. Electronics Nuclear engineering Norsharimie, Mat Adam Addie, Irawan Steering Vehicle with Force-based Impedance Control for Inertia Reduction
description	This paper presents the inertia control on a steering rack vehicle using interaction control approach through forcebased impedance control. Overdriven factor in a vehicle motion especially on a cornering track, is one of the issues that need to be tackled for safety and energy efficiency. Hence, in the attempt to cope with the issue, this study proposes to implement a dynamic control technique that considers the interaction between the vehicle and its terrain by using indirectly shaping inertia forces. The proposed force-based impedance control is derived by considering the forces developed by the rack steering vehicle and shaping the vehicle velocities as its kinodynamic inputs. The implementation of the proposed dynamic control, emphasis is given to the vertical and horizontal axes of the vehicle body, during which inertia could happen as its velocity is at its lowest. This proposed dynamic control strategy is verified by simulating on the steering system model with road terrain and aerodynamic frictions as disturbances. The simulation results shows that the proposed system is able to reduce the inertia forces via shaping the velocity inputs to the vehicle, even though road terrain and aerodynamic frictions are present in the cornering tracks.
format	Conference or Workshop Item
author	Norsharimie, Mat Adam Addie, Irawan
author_facet	Norsharimie, Mat Adam Addie, Irawan
author_sort	Norsharimie, Mat Adam
title	Steering Vehicle with Force-based Impedance Control for Inertia Reduction
title_short	Steering Vehicle with Force-based Impedance Control for Inertia Reduction
title_full	Steering Vehicle with Force-based Impedance Control for Inertia Reduction
title_fullStr	Steering Vehicle with Force-based Impedance Control for Inertia Reduction
title_full_unstemmed	Steering Vehicle with Force-based Impedance Control for Inertia Reduction
title_sort	steering vehicle with force-based impedance control for inertia reduction
publisher	IEEE
publishDate	2018
url	http://umpir.ump.edu.my/id/eprint/22499/ http://umpir.ump.edu.my/id/eprint/22499/1/Steering%20Vehicle%20with%20Force-based%20Impedance.pdf
first_indexed	2023-09-18T22:33:31Z
last_indexed	2023-09-18T22:33:31Z
_version_	1777416443641462784

Steering Vehicle with Force-based Impedance Control for Inertia Reduction

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