TY - GEN
T1 - Nonlinear Vehicle Dynamics Control - a Flatness Based Approach
AU - Fuchshumer, Stefan
AU - Schlacher, Kurt
AU - Rittenschober, Thomas
PY - 2005
Y1 - 2005
N2 - 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 fiven 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.
AB - 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 fiven 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.
UR - http://regpro.mechatronik.uni-linz.ac.at
UR - https://www.scopus.com/pages/publications/33847223770
U2 - 10.1109/CDC.2005.1583203
DO - 10.1109/CDC.2005.1583203
M3 - Conference proceedings
SN - 0780395689
SN - 9780780395688
T3 - Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
SP - 6492
EP - 6497
BT - CD Proceedings 44th IEEE Conference on Decision and Control and the European Control Conference, CDC-ECC 2005
ER -