International Federation of Automatic Control
3rd IFAC SYMPOSIUM on SYSTEM, STRUCTURE and CONTROL
Foz do Iguassu, Brazil October 17th - 19th, 2007
| International Federation of Automatic Control | |
Session FA3: Parameter EstimationChair: Graham Goodwin - Australia Co-chair: Walter Lages - Brazil Room: Santiago 2007-10-19 From 13:30 to 15:30 | |
| Model-Based Soil Parameter Identification for Wheel-Terrain Interaction Dynamics Suksun Hutangkabodee; Yahya H Zweiri; Lakmal D. Seneviratne; Kaspar Althoefer Contact: Suksun Hutangkabodee - United Kingdom | |
| 13:50-14:10 | |
| Abstract: | |
| This paper presents an algorithm for identifying soil parameters for wheel-terrain interaction dynamics. The soil parameters are useful for traversability prediction, traction control, and performance optimization of a wheeled vehicle traveling on unknown terrain. The Composite Simpson’s Rule (CSR) is employed to approximate integrals of the full wheel-terrain interaction dynamic model. This is to facilitate the implementation of soil parameter identification on this model and allow fast identification speed. The 2-stage iterative Newton Raphson (NR) method is used for soil parameter identification. Simulation results show successful identification of a complete set of soil parameters with relatively fast speed. The approach in this paper has great potential to be applied for real off-road wheeled vehicle. Copyright © 2007 IFAC. | |