Nonholonomic dynamics and control of road vehicles: moving toward automation
Systems and Control
2022-09-13 v3 Systems and Control
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.
Keywords
Cite
@article{arxiv.2108.02230,
title = {Nonholonomic dynamics and control of road vehicles: moving toward automation},
author = {Wubing B. Qin and Yiming Zhang and Dénes Takács and Gábor Stépán and Gábor Orosz},
journal= {arXiv preprint arXiv:2108.02230},
year = {2022}
}
Comments
42 pages, 25 figures, 5 tables, accepted for inclusion in a future issue in Nonlinear Dynamics, Springer