Nonholonomic dynamics and control of road vehicles: moving toward automation

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.

42 pages, 25 figures, 5 tables, accepted for inclusion in a future issue in Nonlinear Dynamics, Springer

References in corpus (4)

• Isolated large amplitude periodic motions of towed rigid wheels
• A Constructive Method for Designing Safe Multirate Controllers for Differentially-Flat Systems
• A Nonlinear Car-following Controller Design Inspired By Human-driving Behaviors to Increase Comfort and Enhance Safety
• Flutter instability and Ziegler destabilization paradox for elastic rods subject to non-holonomic constraints