CONTROLLER DESIGN FOR A SEMI-TRACK AIR-CUSHION VEHICLE

MA, C.; HE, D.; XIE, D.; YU, F.; LUO, Z.

doi:2015.16.4.581

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International Journal of Automotive Technology > Volume 16(4); 2015 > Article

Automobile Chassis & Vehicle Dynamic

International Journal of Automotive Technology 2015;16(4): 581-591.
doi: https://doi.org/10.1007/s12239-015-0059-5

CONTROLLER DESIGN FOR A SEMI-TRACK AIR-CUSHION VEHICLE

C. MA, D. HE, D. XIE, F. YU, Z. LUO

Shanghai Jiao Tong University

ABSTRACT

To enhance the trafficability of semi-track air-cushion vehicle (STACV), a prototype is manufactured and a heirarchy controller is designed. The control objectives are, 1) to minimize the total power consumption; 2) to follow the driver

Key Words: Semi-track air-cushion vehicle, Soft terrain, Optimal power consumption, Model predictive control, Body attitude control

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