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 adaptive hierarchical control framework is proposed to supervise the lateral motion of autonomous four-wheel independent drive electric vehicles and numerical simulation and experimental results demonstrate that the proposed adaptive control approach has outstanding tracking performance.
Abstract: This paper deals with the trajectory following control problem of a class of autonomous vehicles with parametric uncertainties, external disturbances, and over-actuated features. A novel adaptive hierarchical control framework is proposed to supervise the lateral motion of autonomous four-wheel independent drive electric vehicles. First, an adaptive sliding mode high-level control law with the linear matrix inequality-based switching surface is designed to produce a vector of front steering angle and external yaw moment, in which the uncertain term and the switching control gain are adaptively regulated by the fuzzy logic technique, to further moderate the chattering phenomenon, an adaptive boundary layer is introduced. Second, a pseudo-inverse low-level control allocation algorithm is presented to optimally allocate the external yaw moment via coordinating and reconstructing the tire longitudinal forces. Finally, numerical simulation and experimental results demonstrate that the proposed adaptive control approach has outstanding tracking performance.
114 citations
26 Jun 1991
TL;DR: In this article, a linear control law for each vehicle which uses only the information from the preceding vehicle in the platoon was proposed. But the performance of longitudinal control laws with no communication of lead vehicle information was evaluated.
Abstract: Evaluates the performance of longitudinal control laws with no communication of lead vehicle information. After using exact linearization methods, the authors propose a linear control law for each vehicle which uses only the information from the preceding vehicle in the platoon.
114 citations
TL;DR: This paper addresses the problem of designing a general purpose path planner and its associated low level control for autonomous vehicles operating in unknown environments and demonstrates both flexibility and reliability for vehicle driving in very different environments, including extreme road conditions.
114 citations
TL;DR: This brief addresses the design and experimental evaluation of a global controller to steer a quadrotor vehicle along a predefined path in the presence of constant wind disturbances and proposes a nonlinear adaptive state feedback controller for thrust and torque actuation.
Abstract: This brief addresses the design and experimental evaluation of a global controller to steer a quadrotor vehicle along a predefined path in the presence of constant wind disturbances. The proposed solution consists of a nonlinear adaptive state feedback controller for thrust and torque actuation that: 1) guarantees global convergence of the closed-loop path following error to zero in the presence of constant wind disturbances and 2) ensures that the actuation can be bounded as a function of the position and velocity errors without imposing a maximum for that bound, allowing for high performance control action. A prototyping and testing architecture, developed to streamline the implementation and tuning of the controller, is also described. Simulation results and experimental results, which include a hovering flight in the slipstream of a mechanical fan, are presented to assess the performance and robustness of the proposed controller.
114 citations