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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01 Jan 1984
TL;DR: In this paper, a reentry vehicle dynamics model is proposed for a re-entry vehicle, which is based on the Re-entry Vehicle Dynamics Model (RVM) model.
Abstract: Re-entry vehicle dynamics , Re-entry vehicle dynamics , مرکز فناوری اطلاعات و اطلاع رسانی کشاورزی
69 citations
TL;DR: In this article, the authors considered the back-up control of a vehicle with triple trailers using a model-based fuzzy-control methodology and employed the parallel distributed compensation design to arrive at a controller that guarantees the stability of the closed-loop system consisted of the fuzzy model and controller.
Abstract: We consider the backing-up control of a vehicle with triple trailers using a model-based fuzzy-control methodology. First, the vehicle model is represented by a Takagi-Sugeno fuzzy model. Then, we employ the so-called "parallel distributed compensation" design to arrive at a controller that guarantees the stability of the closed-loop system consisted of the fuzzy model and controller. The control-design problem is cast in terms of linear matrix inequalities (LMIs). In addition to stability, the control performance considerations such as decay rate, constraints on input and output, and disturbance rejection are incorporated in the LMI conditions. In application to the vehicle with triple trailers setup, we utilize these LMI conditions to explicitly avoid the saturation of the steering angle and the jackknife phenomenon in the control design. Both simulation and experimental results are presented. Our results demonstrate that the fuzzy controller effectively achieves the backing-up control of the vehicle with triple trailers while avoiding the saturation of the actuator and "jackknife" phenomenon.
68 citations
TL;DR: In this article, the flatness property and the concept of virtual vehicles are used to maintain the formation structure during motion along a desired geometric path, and follow a timing law that dominates the rate of advancement of the group and the arrival times to assigned sites.
Abstract: This paper proposes control schemes for a group of nonholonomic kinematic mobile robots for maintaining a desired formation along a time-parameterized path. The control approach is based in particular on the flatness property and the concept of virtual vehicles. The control objective is twofold: to maintain the formation structure during motion along a desired geometric path, and to follow a timing law that dominates the rate of advancement of the group and the arrival times to assigned sites. This paper suggests, in particular, control strategies for convoy-like vehicles and for rigid formations. The leading vehicle governs the overall group motion. However, each member of the group can independently split or merge and maneuver to avoid collision (assuming that the relevant data are available by communication/sensing means) during the group motion.
68 citations
TL;DR: In this article, a semi-empirical off-road tire model is discussed, which combines the efforts of several researchers into a single model able to predict the main features of a tire operating in offroad scenarios by computing drawbar pull, driving torque, lateral force, slip-sinkage phenomenon and multi-pass behavior.
68 citations
TL;DR: The Lyapunov second method is used to derive a control law that can be used to control the spacing between vehicles in a platoon and a third-order system is adopted to model the vehicle and powertrain dynamics.
Abstract: The Lyapunov second method is used to derive a control law that can he used to control the spacing between vehicles in a platoon. A third-order system is adopted to model the vehicle and powertrain dynamics. In addition, the concept of "expected spacing error" is introduced and used to form a Lyapunov function. Then a control law that always decreases the Lyapunov function is selected. A platoon of four vehicles and various scenarios are used to demonstrate the performance of the proposed control law.
68 citations