System identification modelling based on modification of all terrain vehicle (ATV) using wireless control system

Abstract

This paper describes the modification of all-terrain vehicle (ATV) to semi-autonomous control based on using wireless control system. The semi-autonomous for ATV is based on yaw control. This wireless control system will control the cylinder linear actuator that is added to the ATV. Nowadays, the usage of ATV gives much benefit to their field of work with their design and is dedicated to huge driveability on irregular ground track as well as on paved road. The main problem of the ATV involves the steering control (yaw control), which cannot rotate easily and needs high forces to control the movement of ATV. Yaw movement is very limited when driven manually, since it requires high forces to move the steering. This project begins with a mathematical and empirical modelling to capture the dynamics of a newly modified ATV. In this project, the modelling of ATV by using system identification technique is conducted. The model will then be compared to its derived mathematical model. Then, the design of a wireless control system is required to solve the problem, which results in an easy rotation of 45° to the left and right with precise, accurate and lightweight yaw movement and verification using MATLAB/Simulink. As a conclusion, the yaw estimation shows that the ATV movement achieved its stability at angle 45°.

Keywords

• All-Terrain Vehicle
• Wireless Control System
• yaw control