Robust scalable vehicle control via non-dimensional vehicle dynamics

被引：21

作者：

Brennan, S ^{[1
]}

Alleyne, A ^{[1
]}

机构：

[1] Univ Illinois, Dept Mech & Ind Engn, Urbana, IL 61801 USA

来源：

VEHICLE SYSTEM DYNAMICS | 2001年 / 36卷 / 4-5期

基金：

美国国家科学基金会;

关键词：

D O I：

10.1076/vesd.36.4.255.3551

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

A temporal and spatial re-parameterization of the linear vehicle Bicycle Model is presented utilizing non-dimensional ratios of vehicle parameters called pi -groups. Investigation of the pi -groups using compiled data from 44 published sets of Vehicle Dynamics reveals a normal distribution about a line through pi -space. The normal distribution suggests numerical-values for an 'average' vehicle and maximum perturbations about the average. A state-feedback controller is designed utilizing the pi -space line and the expected pi -perturbations to robustly stabilize all vehicles encompassed by the normal distribution of vehicle parameters. Experimental verification is obtained using a scaled vehicle.

引用

页码：255 / 277

页数：23

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