Topic
Vehicle dynamics
About: Vehicle dynamics is a research topic. Over the lifetime, 12909 publications have been published within this topic receiving 204091 citations.
Papers published on a yearly basis
Papers
More filters
TL;DR: In this article, a set of linear maneuvering equations representing the four-wheel steering motions and independent wheel torques for lateral/directional plus roll dynamics were obtained and the steering angles were actively controlled by steering wheel commands through the actuator mechanisms for the lateral and directional and roll motions.
56 citations
23 Mar 2009
TL;DR: In this article, the authors developed a nonlinear position controller for a quadrotor VTOL aircraft using feedback linearization with dynamic extension, which completely decouples and linearizes the nonlinear dynamical model of the aircraft.
Abstract: The contribution of this paper is the development of a nonlinear position controller for a quadrotor VTOL aircraft using feedback linearization with dynamic extension. The developed controller completely decouples and linearizes the nonlinear dynamical model of the aircraft. The use of dynamic extension has resulted into a fourteenth dimensional controller for the the twelve dimensional state system. Simulation results are provided to demonstrate the effectiveness of the nonlinear controller in tracking time-parameterized trajectories in inertial frame with internal stability.
56 citations
TL;DR: A nonlinear tracking controller is designed to ensure that the directional control steering assembly follows the operator's commanded maneuvers at the driver interface, and provides the driver with tunable force feedback proportional to the reaction forces at the tire-road interface.
Abstract: The introduction of steer-by-wire system technology into ground transportation vehicles permits customization of the human-machine haptic interface to accommodate the driver's desired level of road ldquofeel.rdquo The ability to tune the steering system's dynamic behavior can potentially enhance the driver's overall performance and increase the vehicle's safety. A nonlinear tracking controller is designed to ensure that the directional control steering assembly follows the operator's commanded maneuvers at the driver interface. In addition, the controller provides the driver with tunable force feedback proportional to the reaction forces at the tire-road interface. Two control techniques are provided to guarantee that the corresponding tracking errors are asymptotically forced to zero. The first compensates for parametric uncertainty, whereas the second eliminates the need for torque measurements through the use of observers. Representative numerical and experimental results are presented to demonstrate the controller's performance for various driving scenarios.
56 citations
13 Oct 1991
TL;DR: Key properties of the equations of motion for underwater vehicles are derived both theoretically and experimentally in a Lagrangian framework, which has several distinctive advantages compared to the Newtonian approach.
Abstract: Key properties of the equations of motion for underwater vehicles are derived both theoretically and experimentally. The equations of motion for underwater vehicles are derived in a Lagrangian framework. The Lagrangian approach has several distinctive advantages compared to the Newtonian approach. This is especially true in the context of underwater vehicles. The derivation of the hydrodynamic added inertia and the vehicle's rigid body equations of motion can be done in a common framework. The added inertia is given a clear and physical interpretation when the vehicle-ambient water system is considered from an energy point of view instead of a force-moment approach. >
56 citations
11 Jun 2008
TL;DR: A novel configuration for a three-rotor mini unmanned aerial vehicle (UAV) which incorporates advantageous structural features which enhance the maneuverability of the rotorcraft and a control law which is robust with respect to dynamical couplings and adverse torques is proposed.
Abstract: The goal of this paper is to present a novel configuration for a three-rotor mini unmanned aerial vehicle (UAV). The proposed design incorporates advantageous structural features which enhance the maneuverability of the rotorcraft. The detailed mathematical model of the vehicle's attitude is obtained through the Newton-Euler formulation. In terms of control, we propose a control law which is robust with respect to dynamical couplings and adverse torques. The vehicle tilts simultaneously the three rotors to stabilize the yaw dynamics. The resulting control algorithm is simple for embedded purposes. A customized low-cost embedded system was developed to test an autonomous stabilized-attitude flight, obtaining satisfactory results.
56 citations