By Yaobin Chen and Lingxi Li (Auth.)

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3 Virtual Environments The virtual environment in conjunction with a physical testing setup can significantly increase the set of possible testing scenarios, in addition to making them easier to implement. Specifically, in an indoor testbed, primary objects can be added to the environment without physically creating them in the laboratory. Roadways can be quickly mapped out and changed if necessary. Virtual barriers could temporarily block these roadways or various parking-lot configurations could be analyzed.

Thus, a quick transition to goal states was realized. This is not possible with simple state feedback control. 16. 16. 16(e). 16(f). The magnitude of the elements of input depends on the parameters of viscous friction. However, the main reason for this phenomenon in the case of f is that the feedforward method generates a required control input in order to force the seat balancer to move forward against the inertial resistance force of the seat balancer generated by the acceleration of the cart in the vertical direction.

The effectiveness of the dynamics canceling algorithm is discussed below. The total simulation time is 15 seconds. The simulation begins with all of the variables set to zero as the initial fà condition. During the simulation, the driver requests uh ¼ rw q_ w at time zero. In addition, the gain of state feedback K is calculated with an optimum regulator and takes the following values: ! 15: Block Diagram of Acceleration Control. 2. 16. One problem with this method was that each variable and desired variable did not match at the end of the simulation.

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