This article proposes a novel longitudinal vehicle speed estimator for snowy roads in extreme conditions (four-wheel slip) based on low-cost wheel speed encoders and a longitudinal acceleration sensor. The tire rotation factor, η, is introduced to re...
Currently, active safety control methods for cars, i.e., the antilock braking system (ABS), the traction control system (TCS), and electronic stability control (ESC), govern the wheel slip control based on the wheel slip ratio, which relies on the in...
Controllability, maneuverability, fault-tolerance/isolation and safety are significantly enhanced in electric vehicles (EV) equipped with the redundant actuator configuration of four-in-wheel electric motors (4IWM). A highly reconfigurable architectu...
The influence of the external environment can reduce the braking performance of the electric vehicle (EV) with in-wheel motors (IWM). In this paper, an adaptive sliding mode wheel slip control method with a vehicle speed observer consideration is pro...
In order to further theoretical and experimental research on adhesion recovery, an innovative new test-rig for wheel–rail contact experiments under large slip conditions was developed. The wheel-on-ring category of test-rig was determined to pr...
In order to solve the adaptability problem of acceleration slip regulation for distributed drive electric vehicles, a slip ratio adaptive control strategy based on wheel angular velocity is proposed. The principle of road estimation algorithm based o...
Wheel slip control is a critical aspect of vehicle safety systems, notably the antilock braking system (ABS). Designing a robust controller for the ABS faces the challenge of accommodating its strong nonlinear behavior across varying road conditions...
This paper presents an acceleration slip regulation (ASR) system for four-wheel drive (4WD) electric vehicles, which are driven by the front and rear axles simultaneously. The ASR control strategy includes three control modes: average distribution of...
With the development of in-wheel technology (IWT), the design of the electric vehicles (EV) is getting much improved. The anti-lock braking system (ABS), which is a safety benchmark for automotive braking, is particularly important. Installing the br...
Motor railway vehicles necessitate enhanced control of wheel-rail contact mechanics to ensure optimal adhesion. During train running, driving wheelsets exhibit torsional vibrations that compromise adhesion and potentially lead to axle damage. Consequ...
When a two-wheeled inverted pendulum (TWIP) robot vehicle travels on slippery roads, the occurrence of wheel slip extremely threatens its postural stability owing to the loss of wheel traction. If a severe wheel slip happens between the driving wheel...
This study investigated slip and magnetic attraction effects in a skid-steered magnetic-wheeled microrobot. The dynamics of the microrobot were derived by considering the slip and magnetic attraction of the wheels. In addition, the slip characteristi...
Ever-increasing electrification of the drive train offers new possibilities for the power train layouts as well as for vehicle dynamics control. For a single-wheel driven electric vehicle, one should utilize the advantages of the electric engines com...
Wheel slipping during trajectory tracking presents significant challenges for wheeled mobile robots (WMRs), degrading accuracy and stability on low-friction or dynamic terrain. Effective control requires addressing unknown slipping parameters while b...
This article focuses on trajectory tracking control of a four-wheeled mobile robot, with non-steered wheels. The issues in terms of robot kinematics are discussed and a dynamics model is derived, which additionally took into account the drive unit mo...
To achieve Industry 4.0 solutions for the networking of mechatronic components in production plants, the use of Internet of Things (IoT) technology is the optimal way for goods transportation in the cyber-physical system (CPS). As a result, automated...
Wheeled mobile robot (WMR) is usually applicable for executing an operational task around complicated environment; skidding and slipping phenomena unavoidably appear during the motion, which thus can compromise the accomplishment of the task. This pa...
Tractors are prone to large slips when they are in field operation. The degree of slip plays a vital role in traction efficiency and fuel efficiency. This paper presents a method for measuring the slip ratio of tractors in field operation based on ma...
Aiming at the trajectory tracking control problem of wheeled mobile robots under unknown slip ratio conditions, this paper designs a trajectory tracking controller based on an improved rapid variable power reaching law and a sliding mode observer. Fi...
In this article, the research team systematically developed a method to model the kinematics and dynamics of a 3-wheeled robot subjected to external disturbances and sideways wheel sliding. These models will be used to design control laws that compen...
The wheels of decelerating vehicles in braking mode roll with increased slip, up to complete lock-up, which is a negative phenomenon. This is effectively managed by the anti-lock braking system (ABS). However, in the course of braking, especially bef...
Field investigation shows that most corrugations occur on the inner rail surface of curved tracks with a radius of less than 700 m. In order to explore the formation mechanism of metro corrugation, the relationship between wheel–rail stick–slip chara...
The existing control methods for the slip rate of the driving wheel of a test prototype have limitations that cause low-quality tillage and finishing operations. We propose a slip rate control method based on the dual factor adjustment of wheel speed...
With the rapid development of deep-sea resource exploration and marine scientific research, wheeled remotely operated vehicles (ROVs) have become crucial for seabed operations. However, under complex seabed conditions, traditional ROV control systems...
In this paper, a robust wheel slip control system based on a sliding mode controller is proposed for improving traction-ability and reducing energy consumption during sudden acceleration for a personal electric vehicle. Sliding mode control technique...
This work presents an automatic slip control solution applied to a two-wheel-drive (2WD) electric tractor. Considering that the slip can be maintained within a specific range that depends on the type of soil, it is possible to increase the tractive e...
The stick–slip phenomenon, the initial stage when the traction wheel starts sliding on the rail, is a critical operation that needs to be detected quickly to control the traction drive. In this study, we have developed an experimental model tha...
Estimation and control of wheel slip is a critical consideration in preventing loss of traction, minimizing power consumptions, and reducing soil disturbance. An approach to wheel slip estimation and control, which is robust to sensor noises and mode...
A novel approach is proposed for the path tracking of a Wheeled Mobile Robot (WMR) in the presence of an unknown lateral slip. Much of the existing work has assumed pure rolling conditions between the wheel and ground. Under the pure rolling conditio...
In response to the poor adaptability of existing harvesters to complex operating conditions in the field, this study took a three-row four-wheel-drive (4WD) corn harvester as the research object, designed a traveling transmission system layout, propo...
This article concerns the modeling and motion control of a mobile robot with six independently driven and non-steered wheels. The main research issue is analyzing the influence of the structure of the control system and wheel track on the control acc...
To address the problem in which wheel longitudinal slip rate directly affects the dynamics and handling stability of a vehicle under driving conditions, front and rear dual-motor four-wheel drive electric vehicles (4WD EVs) were selected as the resea...
In order to improve the traction performance of a wheel of a micro-tiller on the soil surface of a paddy field, we extracted the surface curve of a cow’s hoof and used the cow’s hoof as a bionic prototype to design a bionic paddy wheel. I...
Based on the analysis of the operating conditions of the tractor, a Hybrid four-wheel drive tractor is proposed, and formulate the torque distribution control strategy based on fuzzy control, to control the driving wheel slip rate of the Hybrid four-...
The presence of a bogie in three-axle vehicles when moving along a curved trajectory leads to deterioration in its handling and maneuverability. The paper developed a mathematical model of the elastic bogie wheel while moving along a curvilinear traj...
This paper describes control methods to improve electric vehicle performance in terms of handling, stability and cornering by adjusting the weight distribution and implementing control systems (e.g., wheel slip control, and yaw rate control). The veh...
High-reliability localization is essential for underground mining autonomous vehicle, as inaccurate positioning triggers collision risks and limits deployment in safety-critical environments. Underground mining localization faces unique challenges: k...
To enhance vehicle maneuverability and stability, a controller with 4-wheel steering (4WS), electronic stability control (ESC) and a torque vectoring device (TVD) under constraint on the front slip angles is designed in this research. In the controll...
When the wheeled mobile robot (WMR) is required to perform specific tasks in complex environment, i.e., on the forestry, wet, icy ground or on the sharp corner, wheel skidding and slipping inevitably occur during trajectory tracking. To improve the t...
Longwall shearers operating in the underground mine workings move along the longwall face along the conveyor troughs. The haulage system, which is made up of two kinematic pairs in the form of track wheels installed in shearer movers, cooperating wit...
Emissions from vehicles can be measured on the road or in laboratories using dynamometers that simulate the forces that a vehicle is subject to while driving on the road. In the light-duty vehicle regulations, only roller-type dynamometers are allowe...
In the case of automated guided vehicles using odometry, a very important issue is to know the actual rolling radius of the wheel used to calculate the position of the vehicle. This radius is not constant. Its changes depend on the elastic deformatio...
In this paper, the effects of wheel slip compensation in trajectory planning for mobile tractor-trailer robot applications are investigated. Firstly, a kinematic model of the proposed robot architecture is marked out, then an experimental campaign is...
This paper aims to analyze a six-wheeled mobile manipulator as a solution for brush clearing difficult areas. To this end, a rover with a rocker–bogie suspension system, like those used for space explorations, is considered; the cutting head is...
As autonomous driving technology and four-independent-wheel chassis systems advance, four-independent-wheel autonomous vehicles have increasingly become a focal area of modern research. The longitudinal control problem for four-independent-wheel auto...
In the V-cycle of distributed electric wheel loaders (DEWLs), transport accounts for about 70% of the cycle, making energy saving urgent, while shovel-stage slip limits traction stability. This paper proposes a two-module control framework: (i) a pre...
Four-wheel independent drive electric vehicles have become the latest development trend of electric vehicles due to their simple structure and high control accuracy. Aiming at the sliding problem of four-wheel independent driving electric vehicles in...
Wheeled mobile robots are widely implemented in the field environment where slipping and skidding may often occur. This paper presents a self-adaptive path tracking control framework based on a radial basis function (RBF) neural network to overcome s...
In view of the problems that the fuselage inclines and the driving straightness is difficult to guarantee due to the sinking and sliding of the wheels when the high-clearance plant protection machine is working in the paddy field, this paper takes hi...
To optimize the acceleration performance of independently driven electric vehicles with four in-wheel motors, this paper proposes an anti-slip regulation (ASR) strategy based on dynamic road surface observer for more efficient tracking of the optimal...
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