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Full-Text Articles in Mechanical Engineering
Crane Shaking Platform Design, Bixing Yan, Andrea Vacca
Crane Shaking Platform Design, Bixing Yan, Andrea Vacca
The Summer Undergraduate Research Fellowship (SURF) Symposium
Most of the control methodology of Mobile hydraulic crane is not as energy efficient as people think or want, and the desire to innovate novel, energy-efficient control strategy is the target of most hydraulic experts. To develop or test the control method under real road and off-road conditions, a platform that could simulate the movement and vibration of the crane truck is desired. To design and build the multi-operation platform, a design process includes brain storming, design selection, FEA (Fundamental Element Analysis), mechanical sizing, hydraulic sizing and Bill of Material is required and preferred. After going through all the steps …
Adaptive Nonlinear Control For Autonomous Ground Vehicles, William Spencer Black
Adaptive Nonlinear Control For Autonomous Ground Vehicles, William Spencer Black
Open Access Theses
We present the background and motivation for ground vehicle autonomy, and focus on uses for space-exploration. Using a simple design example of an autonomous ground vehicle we derive the equations of motion. After providing the mathematical background for nonlinear systems and control we present two common methods for exactly linearizing nonlinear systems, feedback linearization and backstepping. We use these in combination with three adaptive control methods: model reference adaptive control, adaptive sliding mode control, and extremum-seeking model reference adaptive control. We show the performances of each combination through several simulation results. We then consider disturbances in the system, and design …