hh.sePublications
Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • 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
Stabilizing a Vehicle near Rollover: An Analogy to Cart-Pole Stabilization
MIT, USA.
Department of Mechanical and Aerospace Engineering, University of California, Irvine, Irvine, CA 92697, United States.
MIT, USA.
2010 (English)In: 2010 IEEE international conference on robotics and automation, Piscataway, N.J.: IEEE Press, 2010, 5194-5200 p.Conference paper, Published paper (Refereed)
Abstract [en]

An analogy between the dynamics of a cart-pole system and vehicle rollover dynamics is used to derive a controller for tipping up and stabilizing a planar model of a passenger vehicle near rollover by controlling lateral tire friction forces. The controller is based on a previously published controller for stabilizing a cart-pole using partial feedback linearization and energy shaping. A necessary condition for tip-up is given based on the surface friction coefficient and the location of the vehicle center of gravity (c.g.). A multi-body vehicle model with suspension is presented in the form of the robotic manipulator equations. Simulation results are presented demonstrating the effect of friction and suspension properties on the tip-up problem. ©2010 IEEE.

Place, publisher, year, edition, pages
Piscataway, N.J.: IEEE Press, 2010. 5194-5200 p.
Series
IEEE International Conference on Robotics and Automation. Proceedings, ISSN 1050-4729
Keyword [en]
Cart-pole system, Center of gravity, Energy-shaping, Multi-body, Partial feedback linearization, Passenger vehicles, Planar model, Robotic manipulators, Simulation result, Surface friction, Suspension properties, Tire friction, Vehicle model, Vehicle rollovers
National Category
Robotics
Identifiers
URN: urn:nbn:se:hh:diva-20743DOI: 10.1109/ROBOT.2010.5509367ISI: 000284150001098Scopus ID: 2-s2.0-77955799064ISBN: 978-1-4244-5040-4 OAI: oai:DiVA.org:hh-20743DiVA: diva2:586845
Conference
IEEE International Conference on Robotics and Automation (ICRA), MAY 03-08, 2010, Anchorage, AK
Available from: 2013-01-13 Created: 2013-01-12 Last updated: 2013-02-11Bibliographically approved

Open Access in DiVA

No full text

Other links

Publisher's full textScopus

Search in DiVA

By author/editor
Iagnemma, Karl
Robotics

Search outside of DiVA

GoogleGoogle Scholar

Altmetric score

Total: 70 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • 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