Topic
Vehicle dynamics
About: Vehicle dynamics is a research topic. Over the lifetime, 12909 publications have been published within this topic receiving 204091 citations.
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TL;DR: A novel fixed-time sliding control scheme is developed, by which the follower vehicle can track the leader vehicle with all the states globally stabilized within a given settling time.
Abstract: In this paper, we investigate formation tracking control of autonomous underwater vehicles ( AUVs ) with model parameter uncertainties and external disturbances. The external disturbances due to the wind, waves, and ocean currents are combined with the model parameter uncertainties as a compound disturbance. Then a disturbance observer ( DO ) is introduced to estimate the compound disturbance, which can be achieved within a finite time independent of the initial estimation error. Based on a DO, a novel fixed-time sliding control scheme is developed, by which the follower vehicle can track the leader vehicle with all the states globally stabilized within a given settling time. The effectiveness and performance of the method are demonstrated by numerical simulations.
83 citations
TL;DR: In this article, the authors considered the decision-making and control problem as an obstacle avoidance path planning problem and formulated it as a convex optimization problem within a receding horizon control framework, subject to a set of constraints introduced to avoid collision with surrounding vehicles, stay within the road boundaries, and abide the physical limitations of vehicle dynamics.
83 citations
TL;DR: In this paper, a semi-active suspension control system for a light commercial vehicle using continuously varying dampers, accelerometers, and an onboard processor is presented. But the main contribution of this paper is the successful implementation of the semi active suspension control strategies on an actual vehicle with accompanying experimental results.
Abstract: This paper presents the design and implementation of a semi-active suspension control system for a light commercial vehicle using continuously varying dampers, accelerometers, and an onboard processor. The control algorithms such as sky-hook, ground-hook, and hybrid are designed based on the vertical velocities of each quarter of the car. These velocities are estimated from Kalman filter using quarter car vehicle model. The controllers are implemented in an actual vehicle equipped with the developed semiactive suspensions system and their performance are compared. Sky-hook control improved ride comfort by reducing body accelerations in the 1-3 Hz range, ground-hook control improved road holding by reducing wheel accelerations in the 10-15 Hz range, and hybrid control results were in between the sky-hook and ground-hook results. The main contribution of this paper is the successful implementation of the semiactive suspension control strategies on an actual vehicle with accompanying experimental results.
83 citations
Book•
23 Nov 2016
TL;DR: In this paper, a book on the dynamics of rail vehicles is developed from the manuscripts for a class with the same name at TU Berlin, directed mainly to master students with pre-knowledge in mathematics.
Abstract: This book on the dynamics of rail vehicles is developed from the manuscripts for a class with the same name at TU Berlin. It is directed mainly to master students with pre-knowledge in mathematics ...
83 citations
02 Jun 1999
TL;DR: In this article, a combined steering and speed controller for the automated highway system (AHS) program of the California Partners for Advanced Transportation and Highways (PATH) is presented.
Abstract: This paper covers developments in the control integration part of the automated highway system (AHS) program of the California Partners for Advanced Transportation and Highways (PATH). The control integration project investigates the potential for improving controller performance through an integrated design of a combined steering and speed controller specifically designed to address the coupling between the steering and speed controls. The following results are presented: (1) the identification and characterization of the various coupling effects through an analysis of vehicle dynamics; (2) the design of a combined controller which compensates for the coupling effects; and, (3) the evaluation of the improvements contributed by the coupling compensation through simulations and through experiments on full-scale test vehicles. Sliding control and dynamic surface control (DSC) methods are used to facilitate the inclusion of the complex, nonlinear coupling effects in the controller derivation. A multiple-rate observer is designed to obtain a lateral velocity estimate which is essential to the implementation of the controller on the test vehicle. Simulations and experiments show that the coupling compensation does improve controller performance and that the combined controller is robust to modeling imperfections and vehicle parameter variations. The combined controller described in this paper may be the ideal basis for future implementation of the automated highway system.
83 citations