Traction Control Study for a Scaled Automated Robotic Car

dc.contributor.authorMorton, Mark A.en
dc.contributor.committeechairKachroo, Pushkinen
dc.contributor.committeememberSaunders, William R.en
dc.contributor.committeememberStilwell, Daniel J.en
dc.contributor.departmentElectrical and Computer Engineeringen
dc.date.accessioned2011-08-06T16:01:35Zen
dc.date.adate2004-06-01en
dc.date.available2011-08-06T16:01:35Zen
dc.date.issued2004-05-13en
dc.date.rdate2004-06-01en
dc.date.sdate2004-05-18en
dc.description.abstractThis thesis presents the use of sliding mode control applied to a 1/10th scale robotic car to operate at a desired slip. Controlling the robot car at any desired slip has a direct relation to the amount of force that is applied to the driving wheels based on road surface conditions. For this model, the desired traction/slip is maintained for a specific surface which happens to be a Lego treadmill platform. How the platform evolved and the robot car was designed are also covered. To parameterize the system dynamics, simulated annealing is used to find the minimal error between mathematical simulations and physical test results. Also discussed is how the robot car and microprocessor can be modeled as a hybrid system. The results from testing the robot car at various desired percent slip show that it is possible to control the slip dynamics of a 1/10th scale automated robotic car and thus pave the way for further studies using scaled model cars to test an automated highway system.en
dc.description.degreeMaster of Scienceen
dc.format.mediumETDen
dc.identifier.otheretd-05182004-215925en
dc.identifier.sourceurlhttp://scholar.lib.vt.edu/theses/available/etd-05182004-215925en
dc.identifier.urihttp://hdl.handle.net/10919/9946en
dc.publisherVirginia Techen
dc.relation.haspartThesis2.pdfen
dc.rightsIn Copyrighten
dc.rights.urihttp://rightsstatements.org/vocab/InC/1.0/en
dc.subjectsliding mode controlen
dc.subjectautomated robotic caren
dc.subjectsimulated annealingen
dc.subjecttractionen
dc.titleTraction Control Study for a Scaled Automated Robotic Caren
dc.typeThesisen
thesis.degree.disciplineElectrical and Computer Engineeringen
thesis.degree.grantorVirginia Polytechnic Institute and State Universityen
thesis.degree.levelmastersen
thesis.degree.nameMaster of Scienceen
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