Type of Document Master's Thesis Author Morton, Mark A. URN etd-05182004-215925 Title Traction Control Study for a Scaled Automated Robotic Car Degree Master of Science Department Electrical and Computer Engineering Advisory Committee
Advisor Name Title Kachroo, Pushkin Committee Chair Saunders, William R. Committee Member Stilwell, Daniel J. Committee Member Keywords
- sliding mode control
- automated robotic car
- simulated annealing
Date of Defense 2004-05-05 Availability unrestricted 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.
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