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
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
收藏
页码:371 / 380
页数:10
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