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Upperbounds on the closed loop sensitivity for the control of a steer-by-wire vehicle
Published in Johannes Edelmann, Manfred Plöchl, Peter E. Pfeffer, Advanced Vehicle Control AVEC’16, 2017
Tom van der Sande, Peter Zegelaar, Igo Besselink, Henk Nijmeijer
For design of the controller, the single-track vehicle model is used [8]. This model only considers the planar dynamics, i.e. the lateral velocity, vy and yaw-rate, rz . The left and right tires are lumped together into one equivalent tire on the vehicle centerline. The forward velocity, vx, is assumed to vary slowly with respect to the other dynamics. Therefore the longitudinal dynamics are neglected. The equations of motion are
Hierarchical control for reference trajectory tracking of autonomous vehicles
Published in Maksym Spiryagin, Timothy Gordon, Colin Cole, Tim McSweeney, The Dynamics of Vehicles on Roads and Tracks, 2018
To design the controller, a widely used simplified single track vehicle model is considered, which captures the essential vehicle steering dynamics. Dynamic equations in terms of slip angle and yaw rate of the bicycle model are given by: () {mvβ˙+2(kf+kr)β+(mv+2v(lfkf−lrkr))ωr=2kfδIzωr+2(l2fkf+l2rkr)vωr+2(lfkf−lrkr)β=2lfkfδ
Balancing control of a bicycle-riding humanoid robot with center of gravity estimation
Published in Advanced Robotics, 2018
Chun-Feng Huang, Yen-Chun Tung, Hao-Tien Lu, T.-J. Yeh
As the first kind of personal mobility vehicles ever invented, bicycles play an important role in the history of transport. Bicycles are light-weight and are solely propelled by human power. They can contribute to the reduction of traffic congestion and air pollution in urban areas. Bicycles are classified as single-track vehicles and display interesting dynamic behavior. For instance, they are statically unstable in the lateral direction which requires manual control to balance the vehicle, but over certain speeds, bicycles can automatically develop lateral stability without human intervention. The intriguing behavior of bicycles poses challenge problems in modeling and control which has attracted attention from automatic control research community.