On the nonlinear dynamics of automated vehicles - A nonholonomic approach

被引：16

作者：

Varszegi, Balazs ^{[1
,2
]}

Takacs, Denes ^{[4
]}

Orosz, Gabor ^{[3
]}

机构：

[1] Budapest Univ Technol & Econ, Dept Appl Mech, H-1111 Budapest, Hungary

[2] MTA BME Lendlet Human Balancing Res Grp, H-1111 Budapest, Hungary

[3] Univ Michigan, Dept Mech Engn, Ann Arbor, MI 48109 USA

[4] MTA BME Res Grp Dynam Machines & Vehicles, H-1111 Budapest, Hungary

来源：

EUROPEAN JOURNAL OF MECHANICS A-SOLIDS | 2019年 / 74卷 / 371-380期

关键词：

Nonholonomic mechanics; Vehicle dynamics; Steering control; Stability; BIFURCATION-ANALYSIS; STEERING CONTROL; STABILITY; MOTION; EQUATIONS; BICYCLE;

D O I：

10.1016/j.euromechsol.2018.11.015

中图分类号：

O3 [力学];

学科分类号：

08 ; 0801 ;

摘要：

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.

引用

页码：371 / 380

页数：10

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