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Nonholonomic
dynamics
and control of road vehicles: moving toward automation
Qin, Wubing B. ; Zhang, Yiming ; Takács, Dénes ; Stépán, Gábor ; Orosz, Gábor
Nonlinear
dynamics
, 2022-11, Vol.110 (3), p.1959-2004
[Peer Reviewed Journal]
Dordrecht: Springer Netherlands
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Title:
Nonholonomic
dynamics
and control of road vehicles: moving toward automation
Author:
Qin, Wubing B.
;
Zhang, Yiming
;
Takács, Dénes
;
Stépán, Gábor
;
Orosz, Gábor
Subjects:
20th century
;
Automation
;
Automobiles
;
Automotive Engineering
;
Classical Mechanics
;
Control
;
Controllers
;
Dependent variables
;
Dynamical Systems
;
Dynamics
;
Engineering
;
Feature Article
;
Kinematics
;
Mechanical Engineering
;
R&D
;
Research & development
;
Steering
;
Vehicles
;
Vibration
Is Part Of:
Nonlinear
dynamics
, 2022-11, Vol.110 (3), p.1959-2004
Description:
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.
Publisher:
Dordrecht: Springer Netherlands
Language:
English
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