Slip ratio control of a ground vehicle is an important concern for the development of antilock braking system (ABS) to avoid skidding when there is a transition of road surfaces. In the past, the slip ratio models of such vehicles were derived to implement ABS. It is found that the dynamics of the hybrid electric vehicle (HEV) is nonlinear, time varying and uncertain as the tire-road dynamics i...

The electronic stability program (ESP) is increasingly finding acceptance in vans and light commercial vehicles (LCV). Nearly all current models, whose gross vehicle weight is generally between 2.8 and 7.5 metric tons, are now available with this active safety system, either as an option or even as standard equipment. Many studies have now confirmed that ESP can prevent a vehicle from skidding ...

This paper represents a robust backstepping tracking control based on a Lyapunov redesign for Skid‐Steered Wheeled Mobile Robots (WMRs). We present kinematic and dynamic models that explicitly relate the perturbations to the skidding in order to improve the tracking performance during real running. A robust controller is synthesized in the backstepping approach ...

Wheeled mobile robots (WMRs) have a numerous applications and planetary of exploration tasks, all of which require building the suitable dynamic model of the robot. Also, the optimal control model that is intended to guide the robot to accomplish its mission is of a significant need. In addition, it is a certain that achieving a success in the robot controller mission requires an accurate estim...

In the paper, a mathematical model assembling a "driver-mobile vehicle-road environment" system and capable of simulating the process of mobile vehicles skid in traction movement mode is proposed. The usage of non-linear drift models allows the development of efficient algorithms for mobile vehicles dynamic stabilization systems. INTRODUCTION The traction loss between the vehicle and the road a...

Abstract. In this paper we present a system for real-time control of agile ground vehicles operating in rough 3D terrain replete with bumps, berms, loop-the-loops, skidding, banked-turns and large jumps. The proposed approach fuses local-planning and feedback trajectory-tracking in a unified, simulation-based framework that operates in real-time. Experimentally we find that fast physical simula...

Ideal carving occurs when a snowboarder or skier, equipped with a snowboard or carving skis, describes a perfect carved turn in which the edges of the ski alone, not the ski surface, describe the trajectory followed by the skier, without any slipping or skidding. In this article, we derive the " ideal-carving " equation which describes the physics of a carved turn under ideal conditions. The la...