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Content Provider | IEEE Xplore Digital Library |
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Author | Velenis, E. Frazzoli, E. Tsiotras, P. |
Copyright Year | 2009 |
Description | Author affiliation: School of Engineering and Design, Brunel University, Uxbridge, Middlesex, UB8-3PH, UK (Velenis, E.) || Department of Aeronautics and Astronautics, Massachusetts Institute of Technology, Cambridge, 02139, USA (Frazzoli, E.) || Daniel Guggenheim School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, 30332-0150, USA (Tsiotras, P.) |
Abstract | In this work we derive steady-state cornering conditions for a single-track vehicle model without restricting the operation of the tires to their linear region (i.e. allowing the vehicle to drift). For each steady-state equilibrium we calculate the corresponding tire friction forces at the front and rear tires, as well as the required front steering angle and front and rear wheel longitudinal slip, to maintain constant velocity, turning rate and vehicle sideslip angle. We design a linear controller that stabilizes the vehicle dynamics with respect to the steady-state cornering equilibria using longitudinal slip at the front and the rear wheels as the control inputs. The wheel torques necessary to maintain the given equilibria are calculated and a sliding-mode controller is proposed to stabilize the vehicle using only front and rear wheel torques as control inputs. |
Starting Page | 3545 |
Ending Page | 3550 |
File Size | 1376742 |
Page Count | 6 |
File Format | |
ISBN | 9781424438716 |
ISSN | 01912216 |
DOI | 10.1109/CDC.2009.5399782 |
Language | English |
Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Publisher Date | 2009-12-15 |
Publisher Place | China |
Access Restriction | Subscribed |
Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Subject Keyword | Steady-state Wheels Sliding mode control Tires Vehicle driving Torque control Stability Vehicle safety Friction Vehicle dynamics |
Content Type | Text |
Resource Type | Article |
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