Vehicle dynamics

About: Vehicle dynamics is a research topic. Over the lifetime, 12909 publications have been published within this topic receiving 204091 citations.

Surge-Heading Guidance-Based Finite-Time Path Following of Underactuated Marine Vehicles

Abstract: In this paper, a surge-heading guidance-based finite-time path-following control (SHG-FPC) scheme is created for an underactuated marine vehicle with complex unknowns. In lieu of line-of-sight guidance, both surge and heading can be guided by adapting to path-following errors and this can greatly enhance the decision-making autonomy pertaining to guidance of kinematics and dynamics, simultaneously. Complex unknowns can be exactly identified by virtue of the devised finite-time uncertainty observer (FUO), by which FUO-based nonsmooth control laws are able to achieve accurate guidance tracking, and thereby, contributing to entire finite-time path-following performance with strong robustness. Simulation results demonstrate the remarkable performance of the proposed SHG-FPC scheme.

Distributed Sliding Mode Control for Nonlinear Heterogeneous Platoon Systems With Positive Definite Topologies

Abstract: This paper is concerned with the distributed control of vehicle platoons. The dynamics of each vehicle are nonlinear and heterogeneous. The control objective is to regulate vehicles to travel at a common speed while maintaining desired intervehicle gaps. The information flow topology dictates the pattern of communication between vehicles in the platoon. This information is essential to effective platoon control and, therefore, plays a central role in affecting the design and performance of platoon control strategies. Our key contribution is a unified distributed control framework that explicitly incorporates and supports a diversity of information flow topologies. Specifically, we propose a distributed sliding mode control (DSMC) framework for a class of generic topologies. The DSMC constructs the topological sliding surface and reaching law via a so-called “topologically structured function.” The control law obtained by matching the topological sliding surface and topological reaching law is naturally distributed. The Lyapunov stability analysis is carried out for the closed-loop system in the sense of Filippov to cope with the discontinuity originated from switching terms. Moreover, a tradeoff between tracking precision and chattering elimination is discussed with a continuous approximation of the switching control law. The effectiveness of the DSMC for platoons is verified under four different topologies through numerical simulation.

The Science of Vehicle Dynamics: Handling, Braking, and Ride of Road and Race Cars

Abstract: In this book, mathematical models of vehicles are developed, always paying attention to state the relevant assumptions and to provide explanations for each step. This approach allows for a deep, yet simple, analysis of the dynamics of vehicles, without having to resort to foggy concepts. The reader will soon achieve a clear understanding of the subject, which will be of great help both in dealing with the challenges of designing and testing new vehicles and in tackling new research topics. The book covers handling and performance of both road and race cars. A new approach, called MAP (Map of Achievable Performance), is presented and thoroughly discussed. It provides a global and intuitive picture of the handling features of a vehicle. Moreover, the book also deals with several relevant topics in vehicle dynamics that have never been discussed before. Author's website with interactive figures (dimnp.unipi.it/guiggiani-m) Massimo Guiggiani is professor of Applied Mechanics at the Università di Pisa, where he also teaches Vehicle Dynamics in the MS degree program in Vehicle Engineering.

Vehicle control system with advanced tire monitoring

Abstract: A control system ( 11 ) for a vehicle ( 10 ) includes vehicle dynamics sensors ( 35 - 47 ) providing a vehicle dynamics signal. Tire monitoring system sensors ( 20 ) in each wheel generate tire signals including temperature, pressure and acceleration data. A controller ( 26 ) communicates with the tire monitoring system sensors ( 20 ) and at least one vehicle dynamics sensor, and generates a brake signal as a function of the multi-axis acceleration data of the tire signals. The brake signal is transmitted to a brake system ( 64 ) to apply a brake torque in response to the brake signal.

Implementation and Development of an Adaptive Steering-Control System

Abstract: In this paper, an adaptive steering-control system for a steer-by-wire system, which consists of a vehicle directional-control unit and a driver-interaction unit, is developed. The adaptive online estimation method is used to identify the dynamic parameters of the vehicle directional-control and driver-interaction units. A nonlinear 4-degree-of-freedom (DOF) vehicle model, including the longitudinal, lateral, yaw, and quasi-static roll motions, is derived using Newtonian mechanics to simulate and test the adaptive steering-control system. Experimental results are performed to demonstrate the efficacy of the proposed adaptive steering-control system.