Modeling and simulation for control design

This paper documents the use of recently developed symbolic software for modeling of a US Army M113 armoured personnel carrier and numerical simulation of the generated nonlinear ordinary differential equations of motion. A brief discussion of the symbolic software used for modeling, analysis, and control system design of multiple body systems is presented. This software is used to create a thirteen degree of freedom model of the vehicle. Numerical simulations were conducted to evaluate the predicted vehicle response for constant velocity motion over standard terrain profiles and for response to gun recoil disturbance.