Qin, Wubing B. and Zhang, Yiming and Takács, Dénes and Stépán, Gábor and Orosz, Gábor (2022) Nonholonomic dynamics and control of road vehicles: moving toward automation. NONLINEAR DYNAMICS, 110. pp. 1959-2004. ISSN 0924-090X
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Abstract
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.
| Item Type: | Article |
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| Additional Information: | Funding Agency and Grant Number: National Research, Development, and Innovation Office of Hungary [NKFI-128422] Funding text: This research was partially supported by the National Research, Development, and Innovation Office of Hungary under Grant No. NKFI-128422. |
| Uncontrolled Keywords: | STABILIZATION; FLATNESS; Engineering, Mechanical; Nonholonomic system; Vehicle dynamics and control; Appellian approach; Single track model; |
| Subjects: | T Technology / alkalmazott, műszaki tudományok > TL Motor vehicles. Aeronautics. Astronautics / járműtechnika, repülés, űrhajózás |
| SWORD Depositor: | MTMT SWORD |
| Depositing User: | MTMT SWORD |
| Date Deposited: | 19 Sep 2023 13:16 |
| Last Modified: | 19 Sep 2023 13:16 |
| URI: | http://real.mtak.hu/id/eprint/174002 |
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