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Differential flatness of a front-steered vehicle with tire force control
MIT, USA.
MIT, USA.
MIT, USA.
2011 (English)In: Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on, Piscataway, N.J.: IEEE Press, 2011, p. 298-304Conference paper, Published paper (Refereed)
Abstract [en]

A trajectory tracking controller based on differential flatness is presented for a nonlinear bicycle model. This controller maps the bicycle dynamics into a point mass located at a center of oscillation with an additional degree of freedom of yaw dynamics. A state transformation is performed that reveals structure in the yaw dynamics resembling a Liénard system. A candidate Lyapunov function inspired by this structure is used to assess the stability of the yaw dynamics while tracking straight-line trajectories and steady turns. The basin of attraction of the controller is limited by actuator constraints and the presence of unstable equilibrium points during turns with high lateral acceleration. The controller properties and the stability of yaw dynamics are demonstrated in simulation. © 2011 IEEE.

Place, publisher, year, edition, pages
Piscataway, N.J.: IEEE Press, 2011. p. 298-304
Keywords [en]
Bicycles, Dynamics, Stability analysis, Tires, Trajectory, Vehicle dynamics, Lyapunov methods, acceleration control, bicycles, force control, nonlinear control systems, position control, road vehicles, stability, tyres, vehicle dynamics, Lienard system, Lyapunov function, actuator constraint, bicycle dynamics, differential flatness, front-steered vehicle, lateral acceleration, nonlinear bicycle model, straight-line trajectory, tire force control, trajectory tracking controller, yaw dynamics stability
National Category
Robotics
Identifiers
URN: urn:nbn:se:hh:diva-20837DOI: 10.1109/IROS.2011.6094800ISI: 000297477500047Scopus ID: 2-s2.0-84455195651ISBN: 978-161284454-1 OAI: oai:DiVA.org:hh-20837DiVA, id: diva2:586695
Conference
2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11, San Francisco, CA, USA, 25-30 September 2011
Available from: 2013-01-12 Created: 2013-01-12 Last updated: 2018-03-22Bibliographically approved

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Iagnemma, Karl

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Total: 90 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf