Advances in Mechatronics by H. Martinez-Alfaro

By H. Martinez-Alfaro

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2008), Integrated Vehicle Dynamic Control – State-of-the Art Review, Proceedings of IEEE Vehicle Power and Propulsion Conference (VPPC), September 3-5, Harbin, China, pp. 1-6. 2 Integrating Neural Signal and Embedded System for Controlling Small Motor Wahidah Mansor, Mohd Shaifulrizal Abd Rani and Nurfatehah Wahy Universiti Teknologi Mara Malaysia 1. Introduction Nowadays, controlling electronic devices without the use of hands is essential to provide a communication interface for disable persons to have control over their environment and to enable multi-tasking operation for normal person.

10, the AFL controller consists of a FLC and an adaptive mechanism. To design the AFL controller, the yaw rate and the sideslip angle of the vehicle are selected as the control objectives. The yaw rate can be measured by a gyroscope, but the sideslip angle cannot be directly measured and thus has to be estimated by an observer. 4. The linearized state space equation of the 2-DOF vehicle model is derived as follows, with the assumptions of a constant forward speed and a small sideslip angle. X  AE  X  BE  U  Y  C E  X  DE  U (52) 19 Integrated Control of Vehicle System Dynamics: Theory and Experiment where   C f C r  f  mv    X , U  , AE   aC  bC  f r M  z  zc   I z  1   aC f  bCr mv 2 2 2 a C f  b Cr Iz v   Cf   mv  , BE   aC f   I z  0  , C  1 0 , 0 1  E 1   Iz   0 0  DE   .

Appendix The acceleration of the vehicle can be expressed by     a  v x  vyz i  v y  vxz j (a1) where vx  v cos  and vy  v sin  ; the above equation can be derived as the following equation by assuming the vehicle speed v is constant     a   v   z sin  i  v   z cos  j (a2) Therefore   ax   v   z sin  (a3)  (a4) and  ay  v   z cos  and hence ax cos    ay sin  (a5) Combining Eq. (a3) and (a5), the following equation can be easily derived 1 v   z  ( ay cos   ax sin  ) (a6) When  is small, the following equation can be easily derived from Eq.

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