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Models for ground vehicle control on nonplanar surfaces

Fork, Thomas ; Tseng, H. Eric ; Borrelli, Francesco

Vehicle system dynamics, 2024-04, Vol.62 (4), p.976-1000 [Periódico revisado por pares]

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Título:
Models for ground vehicle control on nonplanar surfaces
Autor: Fork, Thomas ; Tseng, H. Eric ; Borrelli, Francesco
Assuntos: First principles ; Model accuracy ; predictive control ; Rigid structures ; Vehicle dynamics ; vehicle models
É parte de: Vehicle system dynamics, 2024-04, Vol.62 (4), p.976-1000
Descrição: We present a general approach to model the motion of a rigid body ground vehicle on a smooth nonplanar road surface. We generalise planar control-oriented models while preserving standard model states, inputs and outputs. We derive our approach from first principles, apply it to existing vehicle modelling approaches and test it through real-world experiments. We demonstrate that our approach improves upon the prediction accuracy of planar models.
Editor: Abingdon: Taylor & Francis
Idioma: Inglês

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