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On the nonlinear dynamics of automated vehicles - A nonholonomic approach

Várszegi, Balázs and Takács, Dénes and Orosz, Gábor (2019) On the nonlinear dynamics of automated vehicles - A nonholonomic approach. EUROPEAN JOURNAL OF MECHANICS A-SOLIDS, 74. pp. 371-380. ISSN 0997-7538

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Abstract

A simple mechanical model for the lateral and yaw motion of a vehicle is presented while taking into account rolling constraints. The governing equations are derived by utilizing the Appellian framework. Analytical and numerical bifurcation analysis is performed while utilizing a PD controller. The results provide insight into the local and global stability of forward and reverse motion of automated passenger vehicles and harvesters.

Item Type: Article
Uncontrolled Keywords: STABILITY; vehicle dynamics; Nonholonomic mechanics; Steering control;
Subjects: T Technology / alkalmazott, műszaki tudományok > TJ Mechanical engineering and machinery / gépészmérnöki tudományok
SWORD Depositor: MTMT SWORD
Depositing User: MTMT SWORD
Date Deposited: 11 Mar 2019 10:00
Last Modified: 11 Mar 2019 10:00
URI: http://real.mtak.hu/id/eprint/91974

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