Remote Steering Control Systems

2004 ◽  
Author(s):  
Keyword(s):  
Control Systems ◽  
Steering Control

scholarly journals The Effect of Large-Scale Structures on the Stability of Coal-Face Steering

1984 ◽  
Vol 198 (1) ◽  
pp. 29-40 ◽  
Author(s):  
J B Edwards
Keyword(s):  
Control Systems ◽  
Large Scale ◽  
Steering System ◽  
Rigid Support ◽  
Steering Control ◽  
Coal Face ◽  
Large Scale Structures ◽  
General Terms ◽  
Scale Structures ◽  
The Stability

Simplified models of piecewise rigid support structures for power-loaders operating on longwall coal-faces are shown to be amenable to analysis by z-transform methods. Such analysis predicts that increasing sufficiently the length of the sub-sections of the structure (compared to the inherent delay within the vertical steering system of the machine) should stabilize the vertical steering of the entire coalface. Increasing the width of the structure to embrace more than two consecutive cut floors is shown analytically to eliminate the need for electronic tilt-feedback in control systems. In general terms, these analytical predictions are shown to hold good in detailed simulations of the system that eliminate the simplifications demanded by the analytical method. The general conclusion of the work is therefore that an increase in the size of support structure segments can potentially reduce the complexity of steering control systems. The size-increase must be substantial, e.g. to four to five times the size of conventional structures.

Steering Control Systems

2021 ◽  
pp. 387-444
Author(s):  
Rolf Isermann
Keyword(s):  
Control Systems ◽  
Steering Control

A Hybrid Joystick with Impedance Control for a Stable Remote Control of a Mobile Robot

2019 ◽  
Vol 16 (01) ◽  
pp. 1950005
Author(s):  
Donghyuk Lee ◽  
Jangmyung Lee
Keyword(s):  
Mobile Robot ◽  
Control Systems ◽  
Degrees Of Freedom ◽  
Impedance Control ◽  
Steering Control ◽  
Six Degrees Of Freedom ◽  
The Road ◽  
Actual Direction ◽  
Yaw Angle ◽  
And Control

A new hybrid joystick has been developed to share the six degrees of freedom (DOF) by three DOF inputs and three DOF feedback signals. For remotely controlling a mobile robot, steering and acceleration commands can be generated by a 3-DOF joystick using [Formula: see text], [Formula: see text], and [Formula: see text] directional motions, respectively. Usually, a remote operator cannot clearly watch dynamically changing terrain conditions; therefore, it is necessary to feedback the slope and tilt conditions of the road to the operator through the joystick. These values can be obtained based on the inertial navigation system (INS) and feedback to the joystick as kind of reflection forces. Further, a yaw angle has been used to feedback the actual direction of the robot through a steering control. The mechanism and control systems of the hybrid joystick are newly designed, and the effectiveness of this hybrid joystick has been verified through actual remote operation of a mobile robot driving on slanted and tilted terrain.

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