Nonholonomic dynamics and control of road vehicles: moving toward automation
| Autor: | Wubing B. Qin, Yiming Zhang, Dénes Takács, Gábor Stépán, Gábor Orosz |
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| Rok vydání: | 2021 |
| Předmět: |
Control and Systems Engineering
Applied Mathematics Mechanical Engineering FOS: Electrical engineering electronic engineering information engineering Aerospace Engineering Ocean Engineering Systems and Control (eess.SY) Electrical and Electronic Engineering Electrical Engineering and Systems Science - Systems and Control |
| DOI: | 10.48550/arxiv.2108.02230 |
| Popis: | Nonholonomic models of automobiles are developed by utilizing tools of analytical mechanics, in particular the Appellian approach that allows one to describe the vehicle dynamics with minimum number of time-dependent state variables. The models are categorized based on how they represent the wheel-ground contact, whether they incorporate the longitudinal dynamics, and whether they consider the steering dynamics. It is demonstrated that the developed models can be used to design low-complexity controllers that enable automated vehicles to execute a large variety of maneuvers with high precision. Comment: 42 pages, 25 figures, 5 tables, accepted for inclusion in a future issue in Nonlinear Dynamics, Springer |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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