0

Full Content is available to subscribers

Subscribe/Learn More  >

A Precision Plan-to-Action Mapper for Vehicle Control

[+] Author Affiliations
Frank R. Schaefer, Imtiaz Haque

Clemson University, Clemson, SC

Paper No. IMECE2002-33209, pp. 111-119; 9 pages
doi:10.1115/IMECE2002-33209
From:
  • ASME 2002 International Mechanical Engineering Congress and Exposition
  • Design Engineering
  • New Orleans, Louisiana, USA, November 17–22, 2002
  • Conference Sponsors: Design Engineering Division
  • ISBN: 0-7918-3628-2 | eISBN: 0-7918-1691-5, 0-7918-1692-3, 0-7918-1693-1
  • Copyright © 2002 by ASME

abstract

The vehicle control system described in this paper consists of a discrete controller that computes the control parameters in two major steps: Geometric dynamic planning and plan-to-action mapping. Geometric dynamic planning computes a nominal motion, or ‘gd-plan’ of the vehicle for one control interval. Plan-to-action mapping computes the control parameters so that the gd-plan is performed. This control structure allows the independent modeling of two essential control concepts: motivation and knowledge. Motivation is modeled by computing a desired geometric-dynamic plan. Knowledge is represented through plan-to-action mapping as an approximation of the plant’s inverse system function. This paper describes the development of an extremely precise plan-to-action mapper for use in a vehicle control system that is based on empirical data. This approach is majorm step towards the development of a control structure that is indeed able to adapt to any given plant, or specifically any given vehicle. The paper first describes the development of a suiteable database capturing the vehicle’s input/output behavior. This database can then be used by a curve fitting process to find a formula for the relationship between the vehicle’s; geometric-dynamic behavior and the vehicle’s control inputs. Finally, a number of simulation runs are done to demonstrate the effectiveness of the approach.

Copyright © 2002 by ASME
Topics: Vehicles

Figures

Tables

Interactive Graphics

Video

Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

NOTE:
Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In