Longitudinal Velocity Control of Robotic Vehicle with Articulated Suspension

Abstract

Evolution of virtual prototype technology has a paramount importance in advance mechanical system development and exploration. In this paper skid steered RVAS (Robotic Vehicle with Articulated Suspension) virtual prototype model was designed and co-simulation method was presented to integrate dynamic system model with a designed velocity tracking controller. The vehicle modelling was carried out in ADAMS/View. In addition, PID (Proportional Integral and Derivative) control strategy was employed to achieve desired velocity response along with efficient PID tuning technique in MATLAB/SIMULINK. It was observed that cosimulation was performed successfully and desired longitudinal velocity was achieved by the controller in an effective way.