Modelling and Control of a Vehicle with Single-wheel Chassis Actuators
نویسنده
چکیده
For a vehicle equipped with active single-wheel steering, brake, drive and suspension systems a nonlinear vehicle model is presented. On the basis of this model an integrated vehicle dynamics control is developed comprising all of the mentioned chassis actuators to control the plane vehicle motion. The basic control strategy consists in two parts. One part is a flatness based tracking controller for the vehicle motion, delivering a yaw moment and forces in longitudinal and lateral direction as control commands. The other part is an analytical allocation of these control commands into adequate commands for the chassis actuators, i.e. steer angles, wheel speeds and a wheel load intervention. Copyright c © IFAC 2005
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