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Follow-the-leader control for a train-like-vehicle. Implementation and experimental results

Abstract

This paper presents some practical implementation aspects and results of a particular control law dedicated to Train-Like-Vehicles (TLV) for trajectory tracking purpose. The CEA`s demonstrator consists of two modules. It is a partial but representative mockup of a future 4-modules vehicle devoted to maintenance and intervention in nuclear plants, which is now on development within the frame of the Teleman/MESSINA project. The main principles of the control are first recalled; then the reference trajectory and its on line computation, and the robot`s reference configuration are investigated; tuning the control parameters and control saturation are studied. Experimental and successful results of a real implementation on a TLV mockup are given and discussed. 10 figs., 3 refs.
Authors:
Micaelli, A; Louveau, F; Sabourin, D; [1]  Canudas de Wit, C; Ndoudi-Likoho, A D [2] 
  1. CEA Centre d`Etudes de Grenoble, 38 (France). Direction des Technologies Avancees
  2. Laboratoire d`Automatique de Grenoble, 38 - Saint-martin d`Heres (France)
Publication Date:
Dec 31, 1994
Product Type:
Conference
Report Number:
CEA-CONF-11964; CONF-9408260-
Reference Number:
SCA: 420203; 220400; PA: AIX-27:011037; EDB-96:038558; NTS-96:012556; SN: 96001539336
Resource Relation:
Conference: European robotics and intelligence systems conference, Malaga (Spain), 22-26 Aug 1994; Other Information: PBD: 1994
Subject:
42 ENGINEERING NOT INCLUDED IN OTHER CATEGORIES; 22 NUCLEAR REACTOR TECHNOLOGY; REACTOR MAINTENANCE; ROBOTS; TRAJECTORIES; CONTROL THEORY; MATHEMATICAL MODELS; NUCLEAR POWER PLANTS; ON-LINE CONTROL SYSTEMS; OPTIMAL CONTROL; REMOTE CONTROL; VEHICLES
OSTI ID:
180832
Research Organizations:
CEA Centre d`Etudes de Grenoble, 38 (France). Direction des Technologies Avancees
Country of Origin:
France
Language:
English
Other Identifying Numbers:
Other: ON: DE96612150; TRN: FR9501720011037
Availability:
INIS; OSTI as DE96612150
Submitting Site:
FRN
Size:
12 p.
Announcement Date:
Feb 20, 1996

Citation Formats

Micaelli, A, Louveau, F, Sabourin, D, Canudas de Wit, C, and Ndoudi-Likoho, A D. Follow-the-leader control for a train-like-vehicle. Implementation and experimental results. France: N. p., 1994. Web.
Micaelli, A, Louveau, F, Sabourin, D, Canudas de Wit, C, & Ndoudi-Likoho, A D. Follow-the-leader control for a train-like-vehicle. Implementation and experimental results. France.
Micaelli, A, Louveau, F, Sabourin, D, Canudas de Wit, C, and Ndoudi-Likoho, A D. 1994. "Follow-the-leader control for a train-like-vehicle. Implementation and experimental results." France.
@misc{etde_180832,
title = {Follow-the-leader control for a train-like-vehicle. Implementation and experimental results}
author = {Micaelli, A, Louveau, F, Sabourin, D, Canudas de Wit, C, and Ndoudi-Likoho, A D}
abstractNote = {This paper presents some practical implementation aspects and results of a particular control law dedicated to Train-Like-Vehicles (TLV) for trajectory tracking purpose. The CEA`s demonstrator consists of two modules. It is a partial but representative mockup of a future 4-modules vehicle devoted to maintenance and intervention in nuclear plants, which is now on development within the frame of the Teleman/MESSINA project. The main principles of the control are first recalled; then the reference trajectory and its on line computation, and the robot`s reference configuration are investigated; tuning the control parameters and control saturation are studied. Experimental and successful results of a real implementation on a TLV mockup are given and discussed. 10 figs., 3 refs.}
place = {France}
year = {1994}
month = {Dec}
}