Motion Stabilizing Controller of Off-Road Unmanned Wheel Vehicle in 3 Dimensional Space

  • Yue Ma
  • Changle Xiang
  • Qingdong Yan
  • Quanmin Zhu
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 200)


Stabilization of unmanned ground vehicle (UGV) in three dimensional space is of exceeding importance. In this paper, stabilizing controller was presented. To reveal the behaviour of UGV, models of major modules of UGV and the mechanism of disturbances applied on were discussed. Subsequently, PID method was employed to compensate the impacts of disturbances and simulation results proved the validity for disturbance incited by slope force.


Off-road Unmanned wheel vehicle Stabilizing control 3-dimensional space 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Yue Ma
    • 1
  • Changle Xiang
    • 1
  • Qingdong Yan
    • 1
  • Quanmin Zhu
    • 2
  1. 1.Beijing Institue of TechnologyBeijingChina
  2. 2.The University of the West of EnglandBristolUK

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