Title page for ETD etd-05182004-215925

Type of Document Master's Thesis
Author Morton, Mark A.
URN etd-05182004-215925
Title Traction Control Study for a Scaled Automated Robotic Car
Degree Master of Science
Department Electrical and Computer Engineering
Advisory Committee
Advisor Name Title
Kachroo, Pushkin Committee Chair
Saunders, William R. Committee Member
Stilwell, Daniel J. Committee Member
  • sliding mode control
  • automated robotic car
  • simulated annealing
  • traction
Date of Defense 2004-05-05
Availability unrestricted
This thesis presents the use of sliding mode control applied to a 1/10th scale robotic car to

operate at a desired slip. Controlling the robot car at any desired slip has a direct relation

to the amount of force that is applied to the driving wheels based on road surface

conditions. For this model, the desired traction/slip is maintained for a specific surface

which happens to be a Lego treadmill platform. How the platform evolved and the robot

car was designed are also covered.

To parameterize the system dynamics, simulated annealing is used to find the minimal

error between mathematical simulations and physical test results. Also discussed is how

the robot car and microprocessor can be modeled as a hybrid system. The results from

testing the robot car at various desired percent slip show that it is possible to control the

slip dynamics of a 1/10th scale automated robotic car and thus pave the way for further

studies using scaled model cars to test an automated highway system.

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