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dc.contributor.advisorÇakmakcı, Melih
dc.contributor.authorTemiz, Ozan
dc.date.accessioned2018-10-16T12:56:16Z
dc.date.available2018-10-16T12:56:16Z
dc.date.copyright2018-09
dc.date.issued2018-10
dc.date.submitted2018-10-15
dc.identifier.urihttp://hdl.handle.net/11693/48097
dc.descriptionCataloged from PDF version of article.en_US
dc.descriptionThesis (M.S.): Bilkent University, Department of Mechanical, İhsan Doğramacı Bilkent University, 2018.en_US
dc.descriptionIncludes bibliographical references (leaves 63-68).en_US
dc.description.abstractEmerging vehicle control systems have increased the need for valid vehicle models. In this study, two controller oriented vehicle models are developed and linearized for easier controller design. These models are validated by using an advanced vehicle simulation commercial suite. Then by using these models, an adaptive, fault-tolerant control allocation method which simultaneously commands all traction and steering related actuators is developed. The proposed control scheme consists of a high level controller that creates a virtual control input vector and a low level control allocator that distributes the virtual control effort among redundant actuators. Virtual control input consists of desired forces and moments to ensure stability while following a given reference. Based on this virtual control input vector, the allocation module determines actuator inputs. Performance of the proposed system is evaluated via an object avoidance maneuver in various scenarios such as different velocities and effectiveness loss at actuators. Results show that the proposed approach can follow the references despite the loss of actuator effectiveness in the driving cycle.en_US
dc.description.statementofresponsibilityby Ozan Temiz.en_US
dc.format.extentxii, 102 leaves : illustrations, charts, graphics ; 30 cm.en_US
dc.language.isoen_USen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectVehicle Modelingen_US
dc.subjectControl-Orienteden_US
dc.subjectAdaptive Control Allocationen_US
dc.titleDevelopment of control oriented vehicle models and their application to adaptive control allocation problemsen_US
dc.title.alternativeKontrole yönelik araç modelleme ve adaftif kontrol uygulamasıen_US
dc.typeThesisen_US
dc.departmentDepartment of Mechanical Engineeringen_US
dc.publisherBilkent Universityen_US
dc.description.degreeM.S.en_US
dc.identifier.itemidB155429
dc.embargo.release2019-04-15


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