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: The proposed approach, while maintaining the common assumption of an orientation dynamics faster than the translational one, removes the assumption of absence of external disturbances and of geometric center coincident with the Center of Mass (CoM).
Abstract: This paper presents an adaptive trajectory tracking control strategy for quadrotor micro aerial vehicles (MAVs). The proposed approach, while maintaining the common assumption of an orientation dynamics faster than the translational one, removes the assumption of absence of external disturbances and of geometric center coincident with the Center of Mass (CoM). In particular, the trajectory tracking control law is made adaptive with respect to the presence of external forces and moments (e.g., due to wind) and to the uncertainty of parameters of the dynamic model, such as the position of the CoM. A stability analysis is presented to analytically support the proposed controller, while numerical simulations are provided in order to validate its performance.
81 citations
TL;DR: In this paper, a compensatory tracking model of the human pilot is presented, which attempts to provide a more realistic representation of human signal processing structure than that which is exhibited by pilot models currently in use.
Abstract: A compensatory tracking model of the human pilot is offered, which attempts to provide a more realistic representation of the human's signal processing structure than that which is exhibited by pilot models currently in use. Two features of the model distinguish it from other representations of the human pilot. First, proprioceptive information from the control stick or manipulator constitutes one of the major feedback paths in the model, providing feedback of vehicle output rate due to control activity. Implicit in this feedback loop is a model of the vehicle dynamics which is valid in and beyond the region of crossover. Second, error rate information is continuously derived and independently but intermittently controlled. An output-injected remnant model is offered and qualitatively justified on the basis of providing a measure of the effect of inaccuracies such as time variations in the pilot's internal model of the controlled-element dynamics. The data from experimental tracking tasks involving five different controlled-element dynamics and one nonideal viewing condition were matched with model-generated describing functions and remnant power spectral densities.
81 citations
TL;DR: The findings of this paper showed that the vibration intensity levels changed clearly in the complex input mode that reflects a realistic view of the real vehicle dynamics on the roads compared to the ideal results from the bounce input mode.
81 citations
14 Aug 2000
TL;DR: In this article, the attitude control of a small-scale helicopter is optimized using an identified model of the vehicle dynamics that explicitly accounts for the coupled rotor/stabilizer/fuselage (r/s/f) dynamics.
Abstract: This paper presents results from the attitude control optimization for a small-scale helicopter by using an identified model of the vehicle dynamics that explicitly accounts for the coupled rotor/stabilizer/fuselage (r/s/f) dynamics. The accuracy of the model is verified by showing that it successfully predicts the performance of the control system currently used for Carnegie Mellon's autonomous helicopter (baseline controller). Elementary stability analysis shows that the light damping in the coupled r/s/f mode, which is due to the stabilizer bar, limits the performance of the baseline control system. This limitation is compensated by a second order notch filter. The control system is subsequently optimized using the CONDUIT control design framework with a frequency response envelope specification, which allows the attitude control performance to be accurately specified while insuring that the lightly damped r/s/f mode is adequately compensated.
81 citations
01 Jan 1999
TL;DR: In this paper, a combined method of model observer and direct integration method is used to overcome difficulties in slip angle estimation due to nonlinear characteristics of tires and the influence of road surface slant.
Abstract: In this paper, the author presents a strategy for vehicle slip angel estimation which can be applied to direct yaw-moment control systems. The strategy employs a combined method of model observer and direct integration method. This method is used to overcome difficulties in slip angle estimation due to nonlinear characteristics of tires and the influence of road surface slant.
80 citations