Impedance control on rack steering vehicle for inertia shaping on cornering track

Overdriven factor in a vehicle motion is one of the issues that need to be tackled for safety and energy efficiencies, especially in the cornering track. This issue is crucial especially for rack steering vehicle with non-holonomic configuration, whereby inertia will contribute to high collisions to...

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Main Authors:	Norsharimie, Mat Adam, Irawan, Addie, Fawzan Khaizuran, Faudzi
Format:	Article
Language:	English
Published:	Springer Berlin Heidelberg 2018
Subjects:	TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://umpir.ump.edu.my/id/eprint/23253/ http://umpir.ump.edu.my/id/eprint/23253/ http://umpir.ump.edu.my/id/eprint/23253/1/Impedance%20control%20on%20rack%20steering%20vehicle%20for%20inertia%20shaping%20on%20cornering%20track.pdf

id	ump-23253
recordtype	eprints
spelling	ump-232532019-01-08T08:00:21Z http://umpir.ump.edu.my/id/eprint/23253/ Impedance control on rack steering vehicle for inertia shaping on cornering track Norsharimie, Mat Adam Irawan, Addie Fawzan Khaizuran, Faudzi TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering Overdriven factor in a vehicle motion is one of the issues that need to be tackled for safety and energy efficiencies, especially in the cornering track. This issue is crucial especially for rack steering vehicle with non-holonomic configuration, whereby inertia will contribute to high collisions to the peer walls or offroad incidents. Therefore this study has taken the initiative to propose a dynamic control technique that considers the interaction between the vehicle and the terrain using impedance control. This control technique allows coping with the issue by indirectly shaping inertia forces. The proposed impedance control is derived by handling the vehicle dynamic developed and shaping the vehicle steering angle. For the study purposes, a rack steering four wheels vehicle (RT4WV) is used as a platform, and its dynamic model was derived for analysis. The implementation of torque feedback based impedance control for inertia shaping is emphasized on both vertical (x axis) and horizontal (y axis) of the vehicle body, during which inertia could happen. The kinodynamic input for the system control input is the difference between steering angular changes in which representing front wheel angular changes. This proposed dynamic control strategy is verified by simulating the derived impedance control on RT4WV system model with road terrain and aerodynamic frictions as disturbances. The result shows that the proposed impedance control able to reduce the inertia forces via shaping the steering angular input to the vehicle although there have both road terrain and aerodynamic frictions, especially in cornering tracks. Springer Berlin Heidelberg 2018-12-05 Article PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/23253/1/Impedance%20control%20on%20rack%20steering%20vehicle%20for%20inertia%20shaping%20on%20cornering%20track.pdf Norsharimie, Mat Adam and Irawan, Addie and Fawzan Khaizuran, Faudzi (2018) Impedance control on rack steering vehicle for inertia shaping on cornering track. International Journal of Dynamics and Control. pp. 1-9. ISSN 2195-268X (Print) 2195-2698 (Online) https://doi.org/10.1007/s40435-018-0498-8
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English
topic	TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering Norsharimie, Mat Adam Irawan, Addie Fawzan Khaizuran, Faudzi Impedance control on rack steering vehicle for inertia shaping on cornering track
description	Overdriven factor in a vehicle motion is one of the issues that need to be tackled for safety and energy efficiencies, especially in the cornering track. This issue is crucial especially for rack steering vehicle with non-holonomic configuration, whereby inertia will contribute to high collisions to the peer walls or offroad incidents. Therefore this study has taken the initiative to propose a dynamic control technique that considers the interaction between the vehicle and the terrain using impedance control. This control technique allows coping with the issue by indirectly shaping inertia forces. The proposed impedance control is derived by handling the vehicle dynamic developed and shaping the vehicle steering angle. For the study purposes, a rack steering four wheels vehicle (RT4WV) is used as a platform, and its dynamic model was derived for analysis. The implementation of torque feedback based impedance control for inertia shaping is emphasized on both vertical (x axis) and horizontal (y axis) of the vehicle body, during which inertia could happen. The kinodynamic input for the system control input is the difference between steering angular changes in which representing front wheel angular changes. This proposed dynamic control strategy is verified by simulating the derived impedance control on RT4WV system model with road terrain and aerodynamic frictions as disturbances. The result shows that the proposed impedance control able to reduce the inertia forces via shaping the steering angular input to the vehicle although there have both road terrain and aerodynamic frictions, especially in cornering tracks.
format	Article
author	Norsharimie, Mat Adam Irawan, Addie Fawzan Khaizuran, Faudzi
author_facet	Norsharimie, Mat Adam Irawan, Addie Fawzan Khaizuran, Faudzi
author_sort	Norsharimie, Mat Adam
title	Impedance control on rack steering vehicle for inertia shaping on cornering track
title_short	Impedance control on rack steering vehicle for inertia shaping on cornering track
title_full	Impedance control on rack steering vehicle for inertia shaping on cornering track
title_fullStr	Impedance control on rack steering vehicle for inertia shaping on cornering track
title_full_unstemmed	Impedance control on rack steering vehicle for inertia shaping on cornering track
title_sort	impedance control on rack steering vehicle for inertia shaping on cornering track
publisher	Springer Berlin Heidelberg
publishDate	2018
url	http://umpir.ump.edu.my/id/eprint/23253/ http://umpir.ump.edu.my/id/eprint/23253/ http://umpir.ump.edu.my/id/eprint/23253/1/Impedance%20control%20on%20rack%20steering%20vehicle%20for%20inertia%20shaping%20on%20cornering%20track.pdf
first_indexed	2023-09-18T22:34:44Z
last_indexed	2023-09-18T22:34:44Z
_version_	1777416519599259648

Impedance control on rack steering vehicle for inertia shaping on cornering track

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