Nonholonomic dynamics and control of road vehicles: moving toward automation

被引：0
|
作者：
Wubing B. Qin
Yiming Zhang
Dénes Takács
Gábor Stépán
Gábor Orosz
机构：
[1] University of Michigan,Department of Mechanical Engineering
[2] University of Michigan,Department of Aerospace Engineering
[3] Budapest University of Technology and Economics,MTA
[4] Budapest University of Technology and Economics,BME Research Group on Dynamics of Machines and Vehicles
[5] University of Michigan,Department of Applied Mechanics
来源：
Nonlinear Dynamics | 2022年 / 110卷
关键词：
Vehicle dynamics and control; Appellian approach; Nonholonomic system; Single track model; Path following;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
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.
引用
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页码：1959 / 2004
页数：45
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