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Electrical Engineering and Systems Science > Systems and Control

arXiv:2108.02230 (eess)
[Submitted on 4 Aug 2021 (v1), last revised 26 Jun 2022 (this version, v3)]

Title:Nonholonomic dynamics and control of road vehicles: moving toward automation

Authors:Wubing B. Qin (1), Yiming Zhang (1), Dénes Takács (2), Gábor Stépán (2), Gábor Orosz (1) ((1) University of Michigan, (2) Budapest University of Technology and Economics)
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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.
Comments: 42 pages, 25 figures, 5 tables, accepted for inclusion in a future issue in Nonlinear Dynamics, Springer
Subjects: Systems and Control (eess.SY)
Cite as: arXiv:2108.02230 [eess.SY]
  (or arXiv:2108.02230v3 [eess.SY] for this version)
  https://doi.org/10.48550/arXiv.2108.02230
Journal reference: Nonlinear Dynamics (2022)
Related DOI: https://doi.org/10.1007/s11071-022-07761-4

Submission history

From: Wubing Qin [view email]
[v1] Wed, 4 Aug 2021 18:13:51 UTC (979 KB)
[v2] Thu, 23 Dec 2021 15:38:03 UTC (1,163 KB)
[v3] Sun, 26 Jun 2022 03:37:51 UTC (1,402 KB)
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