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Nonholonomic dynamics and control of road vehicles: moving toward automation
- Source :
- Nonlinear Dynamics (2022)
- Publication Year :
- 2021
-
Abstract
- Nonholonomic models of automobiles are developed by utilizing tools of analytical mechanics, in particular the Appellian approach that allows one to describe the vehicle dynamics with minimum number of time-dependent state variables. The models are categorized based on how they represent the wheel-ground contact, whether they incorporate the longitudinal dynamics, and whether they consider the steering dynamics. It is demonstrated that the developed models can be used to design low-complexity controllers that enable automated vehicles to execute a large variety of maneuvers with high precision.<br />Comment: 42 pages, 25 figures, 5 tables, accepted for inclusion in a future issue in Nonlinear Dynamics, Springer
- Subjects :
- Electrical Engineering and Systems Science - Systems and Control
Subjects
Details
- Database :
- arXiv
- Journal :
- Nonlinear Dynamics (2022)
- Publication Type :
- Report
- Accession number :
- edsarx.2108.02230
- Document Type :
- Working Paper
- Full Text :
- https://doi.org/10.1007/s11071-022-07761-4