Modelling and control design of rover vehicle using classic and adaptive control

Hassan Ali; Mohamed G. Abdelhady; Tarek N. Deif

doi:10.15866/irease.v7i4.3099

Modelling and control design of rover vehicle using classic and adaptive control

Hassan Ali, Mohamed G. Abdelhady, Tarek N. Deif

Research output: Contribution to journal › Article › peer-review

3 Citations (Scopus)

Abstract

This paper presents the dynamics and control of a small-scale rover using custombuilt frame, off-the-shelf avionics, motors and batteries. The modeling part incorporates the rotors dynamics and its motion. The modeling process includes analytical equations and experimental identification of different parameters which is difficult to be estimated analytically. The control part incorporates PD controller. A simulator of the complete system was built using Matlab and Simulink. The control code was written in C and was implemented in a PIC microcontroller. A prototype was built and tested with the selected controller to show good stabilization and good matching with the simulator.

Original language	English
Pages (from-to)	116-123
Number of pages	8
Journal	International Review of Aerospace Engineering
Volume	7
Issue number	4
DOIs	https://doi.org/10.15866/irease.v7i4.3099
Publication status	Published - Aug 1 2014
Externally published	Yes

Keywords

Adaptive
Classic Control
PD Control
Rover

ASJC Scopus subject areas

Control and Systems Engineering
Aerospace Engineering
General Engineering
Fluid Flow and Transfer Processes
Electrical and Electronic Engineering
Applied Mathematics

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10.15866/irease.v7i4.3099

Cite this

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AU - Deif, Tarek N.

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AB - This paper presents the dynamics and control of a small-scale rover using custombuilt frame, off-the-shelf avionics, motors and batteries. The modeling part incorporates the rotors dynamics and its motion. The modeling process includes analytical equations and experimental identification of different parameters which is difficult to be estimated analytically. The control part incorporates PD controller. A simulator of the complete system was built using Matlab and Simulink. The control code was written in C and was implemented in a PIC microcontroller. A prototype was built and tested with the selected controller to show good stabilization and good matching with the simulator.

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KW - PD Control

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Modelling and control design of rover vehicle using classic and adaptive control

Abstract

Keywords

ASJC Scopus subject areas

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