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CDC
2009
IEEE

On steady-state cornering equilibria for wheeled vehicles with drift

14 years 3 months ago
On steady-state cornering equilibria for wheeled vehicles with drift
— In this work we derive steady-state cornering conditions for a single-track vehicle model without restricting the operation of the tires to their linear region (i.e. allowing the vehicle to drift). For each steady-state equilibrium we calculate the corresponding tire friction forces at the front and rear tires, as well as the required front steering angle and front and rear wheel longitudinal slip, to maintain constant velocity, turning rate and vehicle sideslip angle. We design a linear controller that stabilizes the vehicle dynamics with respect to the steadystate cornering equilibria using longitudinal slip at the front and the rear wheels as the control inputs. The wheel torques necessary to maintain the given equilibria are calculated and a sliding-mode controller is proposed to stabilize the vehicle using only front and rear wheel torques as control inputs.
Efstathios Velenis, Emilio Frazzoli, Panagiotis Ts
Added 21 Jul 2010
Updated 21 Jul 2010
Type Conference
Year 2009
Where CDC
Authors Efstathios Velenis, Emilio Frazzoli, Panagiotis Tsiotras
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