Title page for ETD etd-12052009-020030
|Type of Document
||Economy, A. Tommy
||A proposed methodology for the control of a semi-robotic convoy
||Master of Science
|Robertshaw, Harry H.
|Leonard, Robert G.
|Reinholtz, Charles F.
|Date of Defense
The purpose of this thesis is to develop a generic control law for unmanned-trail
vehicles as they follow a manned lead vehicle. The development of this semi-robotic
convoy control law begins with a model of an individual vehicle. Two methods are
then explored of coupling these into a model of the column. A relationship between
these two methods is derived. The model is then expanded to n vehicles. Utilizing
a digital simulation, a three-vehicle convoy is controlled in one degree-of-freedom
(DOF) using pole-placement, state-feedback control theory. The analysis shows
this to be an unacceptable method of control due to the steady-state error. The 1
DOF model is then controlled with series compensation. Simulations verify that the
steady-state error is eliminated. The system is then expanded into a 2 DOF system.
Using the same series compensator, a 2 DOF simulation is developed. It is shown
that the only additional requirement of the 2 DOF system is that the trail vehicles
need to determine their orientation. This is accomplished by first saving the position
and velocity profile of the lead vehicle and then developing a search algorithm to find
the appropriate information. The simulation verifies that the convoy is controlled
within the specifications of the system.
|| Approximate Download Time
| 28.8 Modem
|| 56K Modem
|| ISDN (64 Kb)
|| ISDN (128 Kb)
|| Higher-speed Access
next to an author's name indicates that all
files or directories associated with their ETD
are accessible from the Virginia Tech campus network only.
If you have questions or technical
problems, please Contact DLA.