Adaptive Control of a Magnetically Enhanced Vehicle

1
Adaptive Control of a Magnetically Enhanced
Vehicle Ahmed Elmouelhi 2.152 Nonlinear
Controls
2
Tank-style steering Added resistance to turning
2 Torque Inputs
Magnetic Wheels
3

• Unknown Magnetic Attraction

• Tank Style Resistance to Turning

Difficult to Drive!
Adaptive Controller can adjust to these parameters
4
Form similar to Robot Manipulator example, Ex9.1,
Slotine, et. al.
5
Lyapunov Function
Control Law
Adaptation Law
Barbelats Lemma
6
1000x Improvement in Trajectory Tracking (xdkt)
More intuitive and more controlled turns
7
Torque TOO HIGH for Motors!!
Less wear and tear on the system Longer battery
life
8
if T(1,1)gt45 T(1,1)45 elseif T(1,1)lt-45
T(1,1)-45
Introduce Control Law Limits
9
Realistic and Implementable Torques
Motor Torque Limit 45 N-m
10
Future Work

• Better Modeling
• Plow as damper
• Motor diagnostics
• Robust-Adaptive Control?

• Implementation
• Tachometers then Pots
• Simulink Implementation
• Controller Board Limitations