This paper describes a novel design of exploration vehicle, ACV, and the scheme of motion control and path planning using the virtual prototyping system. ACV possesses the high local mobility and obstacle crossing ability due to the design of four independent drives and the active rock arms. An integrated design environment is established using ADAMS and Matlab/Simulink to simulate the vehicle ...

Electric vehicles (EVs) have environmental advantages and the capacity for advanced motion control. However, EVs need to be charged frequently due to their limited mileage per charge. A dynamic wireless power transfer (WPT) system for EVs can extend their cruising distance and reduce the size of their energy storage system. However, when being applied to rugged roadways over long distances, it ...

This paper presents a synthesis of a robust control for an autonomous underwater vehicle (AUV) using two different methods. The problem statement requires the design of a position and attitude control system for the vehicle such that robust trajectory following is achieved. A detailed nonlinear model of the vehicle was derived, an operating point for nominal design was selected, and a multivari...

In this study, stability control of a three-wheeled vehicle with two wheels on the front axle, a three-wheeled vehicle with two wheels on the rear axle, and a standard four-wheeled vehicle are compared. For vehicle dynamics control systems, the direct yaw moment control is considered as a suitable way of controlling the lateral motion of a vehicle during a severe driving maneuver. In accorda...

In this paper a smooth control algorithm for gear shifting is proposed for improving longitudinal dynamic performance during dry dual-clutch engagements while shifting up or down takes place based on measurements of engine speed and clutch speed, and on estimation of the dual-clutch engaging torque. Simulation effort is made by Matlab/Simulink for transient responses of the overall propulsion s...

Over the recent years, a considerable growth in the number of vehicles on the road has been observed. This increases importance of vehicle safety and minimization of fuel consumption, subsequently prompting manufacturers to equip cars, with more advanced features such as adaptive cruise control (ACC)or collision avoidance and collision warning system (CWS). This paper investigates two control a...

NONLINEAR DYNAMICS OF LONGITUDINAL GROUND VEHICLE TRACTION By Brian John Olson The purpose of this study is to investigate and understand the nonlinear dynamics of longitudinal ground vehicle traction. Specifically, the performance of rubber-tired automobiles under straight-ahead braking and acceleration conditions is discussed in detail. Two vehicle-traction models are considered—a quarter-car...

Bihrle Applied Research Inc. has developed unique capabilities for investigating the aerodynamic effects on aircraft in close formation. Wind-tunnel experiments were conducted at the Langley Full-Scale Tunnel using special hardware and computer equipment developed specifically for formation testing. It was demonstrated that static and dynamic force and moment data, as well as surface pressure d...

Abstract: This paper presents an approach to real-time dynamic simulation of vehicles with electronic stability control (ESC). The approach involves the integration of ESC software into the powertrain and brake models of the realtime vehicle dynamic simulation environment of the National Advanced Driving Simulator (NADS). The ultimate goal of this integration is the use of ESC equipped vehicles...