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Hybrid Control System for Reversing a Multibody Vehicle
KTH, School of Electrical Engineering (EES), Automatic Control.
2004 (English)Independent thesis Advanced level (professional degree), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

This thesis deals with the problem of prototyping a vehicle, made up by a motorized body and two passive trailers using LOGO Mindstorms, and provide a hybrid control system supporting the driver while reversing the vehicle.

The goal of the hybrid system is to switch between different linear controllers, each designed for a specific purpose, to follow a generic path. The approach, when designing the hybrid system, is similar to Dubin’s car problem.

The prototype will be designed to perform as a stand-alone system and be controlled by its own computer.

Information about the instant condition of the vehicle is collected by means of a set of onboard sensors. Two angle sensors are used to measure the relative angles between the different parts of the structure, one rotation sensor is used to measure the steering wheel angle and two rotation sensors are used to transform the wheel’s revolution into orientation of a specific point of the vehicle.

The implementation of the controller consist in a java-program written on a host computer and then downloaded to a robotics command explorer (RCX), equipped with an input-output board that allows to generate the control signal and acquire data from sensors.

Place, publisher, year, edition, pages
2004. , 60 p.
National Category
Control Engineering
URN: urn:nbn:se:kth:diva-109484OAI: diva2:582550
Subject / course
Automatic Control
Educational program
Master of Science in Engineering
Available from: 2013-01-28 Created: 2013-01-04 Last updated: 2013-01-28Bibliographically approved

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