| Texto completo | |
| Autor(es): |
Ribeiro, A. M.
[1, 2]
;
Koyama, M. F.
[1]
;
Moutinho, A.
[2]
;
de Paiva, E. C.
[1]
;
Fioravanti, A. R.
[1]
Número total de Autores: 5
|
| Afiliação do(s) autor(es): | [1] Univ Estadual Campinas, Sch Mech Engn, Sao Paulo - Brazil
[2] Inst Super Tecn, Mech Engn Inst, Lisbon - Portugal
Número total de Afiliações: 2
|
| Tipo de documento: | Artigo Científico |
| Fonte: | CONTROL ENGINEERING PRACTICE; v. 116, NOV 2021. |
| Citações Web of Science: | 0 |
| Resumo | |
The use of scaled vehicle prototyping is driven through costs, safety, and time effectiveness in evaluating state-of-the-art algorithms, particularly to demonstrate and facilitate application in advanced vehicle control and sensing systems. This paper illustrates the use of a car-like 1:5-scale vehicle as a valid and reliable test-bed platform whose lateral dynamics are similar to those of a full-sized vehicle. The validation scheme is proposed by way of three model-based essential concepts, comprising an identification process, a stability analysis step, and a control design. The identification process is proposed to determine the unknown model parameters necessary to correctly describe the vehicle behavior. The mathematical model, validated through a series of matching experiments, is then used for further analysis and control purposes. The analysis design is intended to identify the vehicle's operating conditions, according to its stability properties. Finally, a lateral control strategy that merges knowledge acquired from these analyses is introduced for a path-following system. For each presented characterization, a wide set of experiments were carried out using the scaled vehicle platform. A persistent agreement between expected (simulated) and achieved (measured) lateral response was obtained. The results demonstrate a systematic consistency regarding the platform test-bed and the behavior described by the mathematical model. (AU) | |
| Processo FAPESP: | 14/50851-0 - INCT 2014: Instituto Nacional de Ciência e Tecnologia para Sistemas Autônomos Cooperativos Aplicados em Segurança e Meio Ambiente |
| Beneficiário: | Marco Henrique Terra |
| Modalidade de apoio: | Auxílio à Pesquisa - Temático |
| Processo FAPESP: | 18/05712-2 - Identificação e controle de um veículo elétrico robótico com diferencial eletrônico |
| Beneficiário: | Alexandre Monteiro Ribeiro |
| Modalidade de apoio: | Bolsas no Brasil - Doutorado |
| Processo FAPESP: | 18/04905-1 - Automatização de um Veículo Elétrico Robótico com Diferencial Eletrônico ("Auto_VERDE") |
| Beneficiário: | André Ricardo Fioravanti |
| Modalidade de apoio: | Auxílio à Pesquisa - Regular |