Research Information System
1990 IEEE International Workshop on Intelligent Motion Control, IMC 1990, İstanbul, Turkey, 20 - 22 August 1990, vol.2, pp.773-779
© 1991 IEEE.Autonomy in nonlinear systems rely heavily on an intelligent planner, robust enough under changing uncertainty measures, transients and chaotic behavior in state space. This robustness is mainly achieved through system predictability control. The nonlinear system we concentrate our predictability work on, is an autonomous vehicle on a non-randomly irregular terrain. The objective of the present work is to determine periodic, quasiperiodic and/or chaotic behavior with the transients of nonlinear vibrations of a vehicle model over nonrandom road irregularities. The vehicle includes nonlinear components such as tires, dampers and springs. The nonlinear system is analyzed from the different perspectives of: sensitivity to initial conditions, Fourier transform and power spectra, Lyapunov exponents, attractors with their dimensions, and stability. Fractal sets as convergence maps are also drawn to detect and avoid any chaotic behavior. A stable-singularity dispersion map is developed based on the theoretical concept of Julia sets and analyzed within fractal set theory.