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Hybrid motion cueing algorithms for Redundant Advanced Driving Simulators

Abstract : Redundant Advanced Driving Simulators (hexapods mounted on rails) present an extra capability to reproduce motion sensations. The exploitation of this capability is currently done by frequency separation methods without taking into account the frequency overlapping between the hexapod and the rails. Within this bandwidth, these two degrees of freedom could be considered as equivalent. Our aim is to use this equivalence to improve the motion restitution. We offer two algorithms based on the hybrid systems framework which deal with the longitudinal mode. Their goal is to improve the restitution of motion sensations by reducing false cues (generated by actuators braking) and decreasing null cues (due to actuators blocking). Our algorithms include and treat all steps of motion cueing: motion tracking (restitution), braking before reaching the displacement limits, washout motion, and switching rules.
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Submitted on : Thursday, July 22, 2010 - 2:28:34 PM
Last modification on : Wednesday, November 17, 2021 - 12:30:50 PM


  • HAL Id : hal-00505058, version 1


Hatem Elloumi, Nadia Maïzi, Marc Bordier. Hybrid motion cueing algorithms for Redundant Advanced Driving Simulators. 4th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2007, May 2007, Angers, France. pp.209-216. ⟨hal-00505058⟩



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