Maneuvering Support System for an Amphibian Vehicle – Warning Display to Prevent Rough Maneuvers
[abstFig src='/00290003/14.jpg' width='300' text='Amphibian vehicle maneuvering simulator' ] This study proposes a maneuvering support system for an amphibian vehicle by applying a nonlinear state feedback control law for vehicle trajectory control. We consider that the...
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| Veröffentlicht in: | Journal of robotics and mechatronics 2017-06, Vol.29 (3), p.591-601 |
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| container_title | Journal of robotics and mechatronics |
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| creator | Hayashi, Ryota Matsuyama, Genki Amano, Hisanori Saiki, Hitomu Kinugasa, Tetsuya Yoshida, Koji Iribe, Masatsugu Tokuda, Kenichi |
| description | [abstFig src='/00290003/14.jpg' width='300' text='Amphibian vehicle maneuvering simulator' ] This study proposes a maneuvering support system for an amphibian vehicle by applying a nonlinear state feedback control law for vehicle trajectory control. We consider that the vehicle should not drift sideways for good driving performance. To derive a nonlinear state feedback control law, we have defined ‘Maneuvering Trajectory’ as an additional reference trajectory that is generated by the driver’s maneuver. We have constructed a Lyapunov-like function for the trajectory control system. In this paper, we construct a vehicle-maneuvering simulator and set a clockwise circular reference trajectory. The efficiency of the proposed maneuvering support system is shown in the maneuvering simulations. We consider the case where the propulsive forces of the vehicle have limited influence on maneuverability. A new warning display system is proposed so that the driver can recognize if his or her maneuver is not suitable. Then, we examine the feasibility of the proposed warning display system through several simulations. |
| doi_str_mv | 10.20965/jrm.2017.p0591 |
| format | Article |
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We consider that the vehicle should not drift sideways for good driving performance. To derive a nonlinear state feedback control law, we have defined ‘Maneuvering Trajectory’ as an additional reference trajectory that is generated by the driver’s maneuver. We have constructed a Lyapunov-like function for the trajectory control system. In this paper, we construct a vehicle-maneuvering simulator and set a clockwise circular reference trajectory. The efficiency of the proposed maneuvering support system is shown in the maneuvering simulations. We consider the case where the propulsive forces of the vehicle have limited influence on maneuverability. A new warning display system is proposed so that the driver can recognize if his or her maneuver is not suitable. Then, we examine the feasibility of the proposed warning display system through several simulations.</description><identifier>ISSN: 0915-3942</identifier><identifier>EISSN: 1883-8049</identifier><identifier>DOI: 10.20965/jrm.2017.p0591</identifier><language>eng</language><publisher>Tokyo: Fuji Technology Press Co. Ltd</publisher><subject>Control systems ; Control theory ; Display devices ; Feedback control ; Maneuverability ; Maneuvers ; Nonlinear control ; Simulation ; State feedback ; Support systems ; Trajectory control ; Warning</subject><ispartof>Journal of robotics and mechatronics, 2017-06, Vol.29 (3), p.591-601</ispartof><rights>Copyright © 2017 Fuji Technology Press Ltd.</rights><lds50>peer_reviewed</lds50><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed><cites>FETCH-LOGICAL-c387t-aa463b8c82934229de4e65882954b457af51d2dc0ee4599c923e91c0680894463</cites></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><link.rule.ids>314,780,784,864,27924,27925</link.rule.ids></links><search><creatorcontrib>Hayashi, Ryota</creatorcontrib><creatorcontrib>Matsuyama, Genki</creatorcontrib><creatorcontrib>Amano, Hisanori</creatorcontrib><creatorcontrib>Saiki, Hitomu</creatorcontrib><creatorcontrib>Kinugasa, Tetsuya</creatorcontrib><creatorcontrib>Yoshida, Koji</creatorcontrib><creatorcontrib>Iribe, Masatsugu</creatorcontrib><creatorcontrib>Tokuda, Kenichi</creatorcontrib><creatorcontrib>Faculty of Systems Engineering, Wakayama University</creatorcontrib><creatorcontrib>Department of Electro-Mechanical Engineering, Osaka Electro-Communication University</creatorcontrib><creatorcontrib>Ichihara Works, Mitsui Chemicals, Inc</creatorcontrib><creatorcontrib>National Research Institute of Fire and Disaster</creatorcontrib><creatorcontrib>Department of Mechanical Systems Engineering, Okayama University of Science</creatorcontrib><title>Maneuvering Support System for an Amphibian Vehicle – Warning Display to Prevent Rough Maneuvers</title><title>Journal of robotics and mechatronics</title><description>[abstFig src='/00290003/14.jpg' width='300' text='Amphibian vehicle maneuvering simulator' ] This study proposes a maneuvering support system for an amphibian vehicle by applying a nonlinear state feedback control law for vehicle trajectory control. 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Then, we examine the feasibility of the proposed warning display system through several simulations.</description><subject>Control systems</subject><subject>Control theory</subject><subject>Display devices</subject><subject>Feedback control</subject><subject>Maneuverability</subject><subject>Maneuvers</subject><subject>Nonlinear control</subject><subject>Simulation</subject><subject>State feedback</subject><subject>Support systems</subject><subject>Trajectory control</subject><subject>Warning</subject><issn>0915-3942</issn><issn>1883-8049</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2017</creationdate><recordtype>article</recordtype><sourceid>AFKRA</sourceid><sourceid>AZQEC</sourceid><sourceid>BENPR</sourceid><sourceid>CCPQU</sourceid><sourceid>DWQXO</sourceid><sourceid>GNUQQ</sourceid><recordid>eNo1kEtLw0AUhQdRsNSu3Q64TjvPZGZZ6hMqivWxHCbpTZvSPJxJCtn5H_yH_hKnrd7NPRfOORc-hC4pGTOiYznZuDIomowbIjU9QQOqFI8UEfoUDYimMuJasHM08n5DwkiRaJ4MUPpoK-h24IpqhRdd09SuxYvet1DivHbYVnhaNusiLYJ6h3WRbQH_fH3jD-uqfea68M3W9rit8bODHVQtfqm71Rr_F_sLdJbbrYfR3x6it9ub19l9NH-6e5hN51HGVdJG1oqYpypTTHPBmF6CgFiqcEqRCpnYXNIlW2YEQEitM804aJqRWBGlRcgO0dWxt3H1Zwe-NZu6c1V4aZgITZTJWAXX5OjKXO29g9w0riit6w0l5sDSBJZmz9IcWPJfGFxoDA</recordid><startdate>20170620</startdate><enddate>20170620</enddate><creator>Hayashi, Ryota</creator><creator>Matsuyama, Genki</creator><creator>Amano, Hisanori</creator><creator>Saiki, Hitomu</creator><creator>Kinugasa, Tetsuya</creator><creator>Yoshida, Koji</creator><creator>Iribe, Masatsugu</creator><creator>Tokuda, Kenichi</creator><general>Fuji Technology Press Co. 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| source | Freely Accessible Japanese Titles (ERDB Project); DOAJ Directory of Open Access Journals; EZB Electronic Journals Library; J-STAGE |
| subjects | Control systems Control theory Display devices Feedback control Maneuverability Maneuvers Nonlinear control Simulation State feedback Support systems Trajectory control Warning |
| title | Maneuvering Support System for an Amphibian Vehicle – Warning Display to Prevent Rough Maneuvers |
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