The purpose of this study is to understand the nonlinear dynamics of longitudinal ground vehicle traction. Specifically, single-wheel models of rubber-tired automobiles under straight-ahead braking and acceleration conditions are investigated in detail. Customarily, the forward vehicle speed and the rotational rate of the tire/wheel are taken as dynamic states. This paper motivates an alternati...

This paper describes an implemented design of an autonomous vehicle used in precision agriculture for weed and crop map construction with special focus on the onboard controlsystem, the embedded system and the datacommunication system. The vehicle is four wheel driven and four wheel steered (eight DC motors in total) with dimension of approx. 1x1x1 meters. It is constructed with four simular wh...

abstract: in this work, an optimal control scheme with adaptive weighting coefficients is presented which coordinates different vehicle dynamics control objectives, thus ruling out possible conflicts among them. in a new approach, the weighting coefficients in optimal control are adjusted according to the vehicle state in the phase plane in such a way that a priority is given to each objective ...

In this paper, a novel omnidirectional vehicle with anisotropic friction wheels is presented. The proposed wheel has a series of bendable “nodes” on its circumference, each of which is made of two materials with differing friction properties: one material exhibits high friction, and the other exhibits low friction. The high friction section of the node generates a high traction force, while the...

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 controlle...

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...

The United States Army began developing Unmanned Ground Vehicles (UGV) in the early 1900’s. Concurrently, researchers developed and enhanced passenger and commercial ground vehicles. Although significant progress has been made for improving vehicle mobility for all ground vehicles throughout the past century, mobility has lacked a concise mutually agreed definition and analytical standardized c...

Abstract: This paper presents an in-wheel vibration absorber for in-wheel-motor electric vehicles (IWM EVs), and a corresponding control strategy to improve vehicle ride comfort. The proposed in-wheel vibration absorber, designed for suppressing the motor vibrations, is composed of a spring, an annular rubber bushing, and a controllable damper. The parameters of the in-wheel spring and rubber b...

direct yaw moment control systems (dyc) can maintain the vehicle in the driver’s desired path by distributing the asymmetric longitudinal forces and the generation of the control yaw moment (cym). in order to achieve the superior control performance, intelligent usage of lateral forces is also required. the lateral wheel forces have an indirect effect on the cym and based upon their directions,...

This paper presented a new method for four wheel in-wheel-motored electric vehicle to improve handling and stability with the help of sideslip angle observer and braking force distribution. The first part of this study deals with the full description of the basic theory of vehicle dynamic control system. After that four wheels in-wheel-motored electric vehicle dynamics model, as well as desired...