Development and Modeling of Remotely Operated Scaled Multi-wheeled Combat Vehicle Using System Identification

doi:10.1007/s11633-018-1161-8

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	Development and Modeling of Remotely Operated Scaled Multi-wheeled Combat Vehicle Using System Identification
	A. N. Ouda; Amr Mohamed; Moustafa EI-Gindy; Haoxiang Lang; Jing Ren
刊名	International Journal of Automation and Computing
	2019
卷号	16 期号:3 页码:261-273
关键词	Autonomous multi-wheeled vehicle system identification all wheel steering fuzzy logic (FL) parametric identification.
ISSN号	1476-8186
DOI	10.1007/s11633-018-1161-8
英文摘要	This paper describes the development and modeling of a remotely operated scaled multi-wheeled combat vehicle (ROMWCV) using system identification methodology for heading angle tracking. The vehicle was developed at the vehicle dynamics and crash research (VDCR) Lab at the University of Ontario Institute of Technology (UOIT) to analyze the characteristics of the full-size model. For such vehicles, the development of controllers is considered the most crucial issue. In this paper, the ROMWCV is developed first. An experimental test was carried out to record and analyze the vehicle input/output signals in open loop system, which is considered a multi-input-single-output (MISO) system. Subsequently, a fuzzy logic controller (FLC) was developed for heading angle tracking. The experiments showed that it was feasible to represent the dynamic characteristics of the vehicle using the system identification technique. The estimation and validation results demonstrated that the obtained identified model was able to explain 88.44% of the output variation. In addition, the developed FLC showed a good heading angle tracking.
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/42336]
专题	自动化研究所_学术期刊_International Journal of Automation and Computing
作者单位	Faculty of Engineering and Applied Science, University of Ontario Institute of Technology (UOIT), Oshawa L1H7K4, Canada
推荐引用方式 GB/T 7714	A. N. Ouda,Amr Mohamed,Moustafa EI-Gindy,et al. Development and Modeling of Remotely Operated Scaled Multi-wheeled Combat Vehicle Using System Identification[J]. International Journal of Automation and Computing,2019,16(3):261-273.
APA	A. N. Ouda,Amr Mohamed,Moustafa EI-Gindy,Haoxiang Lang,&Jing Ren.(2019).Development and Modeling of Remotely Operated Scaled Multi-wheeled Combat Vehicle Using System Identification.International Journal of Automation and Computing,16(3),261-273.
MLA	A. N. Ouda,et al."Development and Modeling of Remotely Operated Scaled Multi-wheeled Combat Vehicle Using System Identification".International Journal of Automation and Computing 16.3(2019):261-273.