Konferensartikel

A control method based on Inverse Simulation is applied to a four wheel rover. The method calculates the required inputs to achieve a desired, specified response; a trajectory in this case. Inverse Simulation considers the complete system dynamics to calculate the control input using an iterative, numerical Newton – Raphson scheme. Two methods for applying Inverse Simulation are presented, one based on a Differentiation scheme and one on Integration. The paper provides an insight into how the scheme formulation and selected parameters affect both methods’ performance when applied to a rover. The selection of system outputs to control, their effect on each scheme’s Jacobian, whether it is square or over-determined and the best method to factorize this Jacobian are investigated. The influence of the discretisation step and the convergence tolerance is also examined using two different sets for both schemes and in conjunction with the type of Jacobian used. The comparison is made in terms of the resulting trajectory, the execution time, and the quality of the calculated control input.

inverse, simulation, control, navigation, model based, numerical, wheeled vehicle, rover