Nonholonomic dynamics and control of road vehicles: moving toward automation

Autor:	Qin, Wubing B., Zhang, Yiming, Takács, Dénes, Stépán, Gábor, Orosz, Gábor
Rok vydání:	2021
Předmět:	Electrical Engineering and Systems Science - Systems and Control
Zdroj:	Nonlinear Dynamics (2022)
Druh dokumentu:	Working Paper
DOI:	10.1007/s11071-022-07761-4
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:	arXiv
Externí odkaz:	http://arxiv.org/abs/2108.02230 Zobrazit plný text záznamu View this record from Arxiv