Arbitrary Configuration Stabilization Control for Nonholonomic Vehicle with Input Saturation:a c-Nonholonomic Trajectory Approach

This paper addresses the saturated stabilization control problem for nonholonomic vehicles with a novel c-nonholonomic trajectory approach on SE(2), with applications to automatic parking. Firstly, by defining the cnonholonomic configuration, a c-nonholonomic trajectory is obtained which provides a novel approach to design stabilization controller to reach an arbitrary configuration. Secondly, a global discontinuous time-invariant feedback controller with input saturation is proposed which does not involve time signal information, and its convergence is illustrated by a Lyapunov function approach. Thereafter, the motion trajectory of the proposed controller is analyzed, and the application scenario in automatic parking with the approximate desired trajectory is demonstrated. Finally, the performance of the proposed controller is validated by both numerical simulations and experiments.</p

Abbreviations and acronyms guide

A selected list of abbreviations and acronyms in use throughout the Jet Propulsion Laboratory is presented. The compilation includes NASA and JPL facilities and organizations, federal government agencies, international organizations, engineering and scientific associations and societies, commercial organizations, and words and phrases with technical and financial applications

Conformity Assessment of Tanks for Air Braking Systems of Motor Vehicles in Accordance with EN 286-2

Barning in mind that the internal European market must be protected against unsafe and dangerous products in all fields, including the field of motor vehicles, this paper presents the basic principles of the European standard 286-2, which deals with tanks for air braking systems of motor vehicles and their trailers. This harmonized standard supports the Directive 87/404/EEC, which deals with simple pressure vessels. Since the tank for air braking system of motor vehicles, as a vessel under pressure, poses a security risk in the state of rest as well as during exploitation, this paper, through an example of modern pneumatic brake system in vehicles, provides a methodology for conformity assessment of the tanks of air braking system for motor vehicles and their trailers, in accordance with the EN 286-2 standard. The application of the described procedure defines the conditions that remove technical barriers in trade, protect the market from unsafe products, and thus increases traffic security

The design and development of a light-weight aluminium semi-trailer

A dissertation submitted to the Faculty of Engineering, University of the Witwatersrand, Johannesburg, in fuldlment of the requirements for the degree of Master of Science in Engineering Johannesburg, 1991With increasing competition in the commercial vehicle industry, future vehicle designs need to be able to carry greater payloads within the bounds of existing legislation. Increasing the payload efficiency of transport vehicles involves two main areas: a. Optomizing the size and mass distribution of the vehicle for the purpose intended. b. Keeping the tare mass as low as possible through efficient design and the use of lighter and stronger materials. [Abbreviated Abstract. Open document to view full version]MT201

Phase 1 of the near term hybrid passenger vehicle development program

In order to meet project requirements and be competitive in the 1985 market, the proposed six-passenger vehicle incorporates a high power type Ni-Zn battery, which by making electric-only traction possible, permits the achievement of an optimized control strategy based on electric-only traction to a set battery depth of discharge, followed by hybrid operation with thermal primary energy. This results in a highly efficient hybrid propulsion subsystem. Technical solutions are available to contain energy waste by reducing vehicle weight, rolling resistance, and drag coefficient. Reproaching new 1985 full size vehicles of the conventional type with hybrids of the proposed type would result in a U.S. average gasoline saving per vehicle of 1,261 liters/year and an average energy saving per vehicle of 27,133 MJ/year

Nonholonomic Feedback Control Among Moving Obstacles

A feedback controller is developed for navigating a nonholonomic vehicle in an area with multiple stationary and possibly moving obstacles. Among other applications the developed algorithms can be used for automatic parking of a passenger car in a parking lot with complex configuration or a ground robot in cluttered environment. Several approaches are explored which combine nonholonomic systems control based on sliding modes and potential field methods