In this book, we present a pilot control algorithm, which converts two joysticks commands into two torque directives for movement. This technique allows the user to operate the ABTWC linearly for both motion and orientation control via a joystick. Since a human being is involved in the operation of an ABTWC, the rider faces the danger of being injured in a fall if any system failure occurs. Therefore, the rider should be warned immediately when any system failure develops, ensuring that proper action can be taken to avoid a dangerous accident. A model-based fault-detection filter is designed...
In this book, we present a pilot control algorithm, which converts two joysticks commands into two torque directives for movement. This technique allo...
