Advances in Intelligent Vehicles by Yaobin Chen and Lingxi Li (Auth.)

By Yaobin Chen and Lingxi Li (Auth.)

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2 d 1 / dt [rad/s] w [rad] 100 d w / dt [rad/s] the discontinuous sign function sgn(s) with a continuous saturation function of small boundary layers. 9. 9: Simulation Results of a UW-Car System Using TSMC Running at a Constant Velocity 7 rad/s. The dashed lines represent the desired value and the solid lines are simulation trajectories. It turns out that the TSMC controller guarantees the inclination angle of the body to be approximately zero and the seat to vibrate very slightly near a certain position.

2008 IEEE. Reprinted with permission from “Simulation and testing environments for the DARPA Urban Challenge”, IEEE International Conference on Vehicular Electronics and Safety, 2008. ICVES 2008, 22e24 September 2008, pp. 222e226. As part of the continuing Cyber-Physical Systems (CPS) research program at OSU, the CITR testbed discussed in the following paragraphs was used as a successful teaching tool for high school students. In a series of Summer Institute programs lasting for 2 weeks each summer, groups of students learned the basics of intelligent vehicle research, including how to control a small-scale robot, how to read data from sensors, and how to make decisions based on the sensory data [11].

H. Choi, Adaptive neural sliding mode control of nonholonomic wheeled mobile robots with model uncertainty, IEEE Transactions on Control System Technology 17 (1) (2009). [18] J. H. , Sliding-mode velocity control of mobile-wheeled inverted-pendulum systems, IEEE Transaction on Robotics 26 (4) (2010) 750e758. [19] H. S. Erwin, Sliding control approach to underactuated multibody systems, American Control Conference (2004) 1283e1288. S. S. R. Chang, Modeling and hierarchical tracking control of tri-wheeled mobile robots, IEEE Transaction on Robotics 22 (5) (2006) 1055e1062.

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