Nonlinear Vehicle Dynamics Control - A Flatness-based Approach

Beschreibung

The central issue of this contribution is the discussion of the differential flatness of the planar holonomic bicycle model. The components of a flat output are given as the lateral and the longitudinal velocity component of a distinguished point located on the longitudinal axis of the vehicle. This property is shown for the front-, rear- and all-wheel driven vehicle, without referring to particular representatives of the functions modelling the lateral tire forces. The clear physical meaning of the flat output is regarded as particularly useful for the control design task. The vehicle dynamics control design is accomplished following the flatness based control theory.

Zeitraum	15 Dez. 2005
Ereignistitel	CDC-ECC05
Veranstaltungstyp	Konferenz
Ort	SpanienAuf Karte anzeigen