NDLI: Modeling and motion control of an articulated-frame-steering hydraulic mobile machine

Content Provider	IEEE Xplore Digital Library
Author	Ghabcheloo, R. Hyvonen, M.
Copyright Year	2009
Description	Author affiliation: Department of Intelligent Hydraulics and Automation, Tampere University of Technology (TUT), Finland (Ghabcheloo, R.; Hyvonen, M.)
Abstract	The paper addresses autonomous motion control (path-following in particular) of an articulated-frame-steering (AFS) hydraulically actuated mobile machine. We first propose a kinematic model of the vehicle, together with a simple model for steering hydraulic actuator. The kinematic model is derived under simplifying assumptions that there are no slipping and no skidding. The accuracy of the model is then validated using an elaborated semi-empirical hardware-in-the-loop simulator (GIMsim) of an AFS machine built at IHA/TUT. A motion control strategy is then proposed and a path-following control law is derived. Finally, the efficacy of the methodology is shown using GIMsim.
Starting Page	92
Ending Page	97
File Size	921861
Page Count	6
File Format	PDF
ISBN	9781424446841
DOI	10.1109/MED.2009.5164520
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-06-24
Publisher Place	Greece
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Automation Articulated-frame-steering Wheels kinematic modeling Turning Mobile robots path-following hydraulic machines Machine intelligence Intelligent robots Vehicles Kinematics Mathematical model Motion control
Content Type	Text
Resource Type	Article

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