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Identification and control of a robotic electric vehicle with electronic differential

Grant number: 18/05712-2
Support type:Scholarships in Brazil - Doctorate
Effective date (Start): July 01, 2018
Effective date (End): November 30, 2020
Field of knowledge:Engineering - Mechanical Engineering
Principal researcher:André Ricardo Fioravanti
Grantee:Alexandre Monteiro Ribeiro
Home Institution: Faculdade de Engenharia Mecânica (FEM). Universidade Estadual de Campinas (UNICAMP). Campinas , SP, Brazil


In recent years, the use of autonomous ground vehicles has been growing increasingly in a wide range of applications, civil and military, involving: agriculture, surveillance, mapping, transport, mobility and safety. In the context around the development of off-road robotic vehicles that two research projects were recently proposed by the UNICAMP-CTI group, namely: VERO Project ("Robotic Vehicle", 2009-2014) and FAPESP Project VERDE ("Electric Robotic Vehicle with Electronic Differential", 2014-2017). Both projects aimed at the development of multi-traction electric vehicles (with two independent rear motors), as well as the research and design of the technology associated with autonomous navigation. The present proposal is part of this context, with the aim of developing advanced control and navigation strategies for extreme tire-ground conditions, including slippage, skidding and sloping terrain (typical of all-terrain vehicles). An important feature of vehicles of this type consists on the use of the electronic differential and their ability to actuate on different wheels. This versatile property of the multi traction vehicles allows the development of robust strategies of torque and speed distribution in the independent wheels, even with the presence of actuation redundancy, which makes the control task even more complex. Thus, the present work proposes the design and validation of robust controllers for control and stabilization of the vehicle in adverse conditions. A ground vehicle simulator is already being used for the tests and validation of the proposed strategies. Opportunely, the controllers developed in simulation will be validated in the electric vehicle VERDE. It should be emphasized that this research project is a continuation of a co-tuition program with the Technical University of Lisbon (IST), financed by the Erasmus program and which the first 18-month phase has already been completed in Lisbon, Portugal (2016-2017). (AU)

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Scientific publications
(References retrieved automatically from Web of Science and SciELO through information on FAPESP grants and their corresponding numbers as mentioned in the publications by the authors)
RIBEIRO, A. M.; KOYAMA, M. F.; MOUTINHO, A.; DE PAIVA, E. C.; FIORAVANTI, A. R. comprehensive experimental validation of a scaled car-like vehicle: Lateral dynamics identification, stability analysis, and control applicatio. CONTROL ENGINEERING PRACTICE, v. 116, NOV 2021. Web of Science Citations: 0.
RIBEIRO, A. M.; FIORAVANTI, A. R.; MOUTINHO, A.; DE PAIVA, E. C. Nonlinear state-feedback design for vehicle lateral control using sum-of-squares programming. VEHICLE SYSTEM DYNAMICS, NOV 2020. Web of Science Citations: 0.
RIBEIRO, ALEXANDRE M.; MOUTINHO, ALEXANDRA; FIORAVANTI, ANDRE R.; DE PAIVA, ELY C. Estimation of tire-road friction for road vehicles: a time delay neural network approach. Journal of the Brazilian Society of Mechanical Sciences and Engineering, v. 42, n. 1 JAN 2020. Web of Science Citations: 0.

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