Nonlinear Vehicle Dynamics Control - a Flatness Based Approach

Stefan Fuchshumer; Kurt Schlacher; Thomas Rittenschober

doi:10.1109/CDC.2005.1583203

Nonlinear Vehicle Dynamics Control - a Flatness Based Approach

Stefan Fuchshumer
, Kurt Schlacher
, Thomas Rittenschober

Institute of Control Systems

Research output: Chapter in Book/Report/Conference proceeding › Conference proceedings › peer-review

Abstract

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.

Original language	English
Title of host publication	CD Proceedings 44th IEEE Conference on Decision and Control and the European Control Conference, CDC-ECC 2005
Pages	6492-6497
Number of pages	6
DOIs	https://doi.org/10.1109/CDC.2005.1583203
Publication status	Published - 2005

Publication series

Name	Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
Volume	2005

Fields of science

101028 Mathematical modelling
202 Electrical Engineering, Electronics, Information Engineering
202003 Automation
202017 Embedded systems
202027 Mechatronics
202034 Control engineering
203015 Mechatronics

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10.1109/CDC.2005.1583203

Cite this

Fuchshumer, S., Schlacher, K., & Rittenschober, T. (2005). Nonlinear Vehicle Dynamics Control - a Flatness Based Approach. In CD Proceedings 44th IEEE Conference on Decision and Control and the European Control Conference, CDC-ECC 2005 (pp. 6492-6497). Article 1583203 (Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05; Vol. 2005). https://doi.org/10.1109/CDC.2005.1583203

Fuchshumer, Stefan ; Schlacher, Kurt ; Rittenschober, Thomas. / Nonlinear Vehicle Dynamics Control - a Flatness Based Approach. CD Proceedings 44th IEEE Conference on Decision and Control and the European Control Conference, CDC-ECC 2005. 2005. pp. 6492-6497 (Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05).

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abstract = "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.",

author = "Stefan Fuchshumer and Kurt Schlacher and Thomas Rittenschober",

year = "2005",

doi = "10.1109/CDC.2005.1583203",

language = "English",

isbn = "0780395689",

series = "Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05",

pages = "6492--6497",

booktitle = "CD Proceedings 44th IEEE Conference on Decision and Control and the European Control Conference, CDC-ECC 2005",

}

Fuchshumer, S, Schlacher, K & Rittenschober, T 2005, Nonlinear Vehicle Dynamics Control - a Flatness Based Approach. in CD Proceedings 44th IEEE Conference on Decision and Control and the European Control Conference, CDC-ECC 2005., 1583203, Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05, vol. 2005, pp. 6492-6497. https://doi.org/10.1109/CDC.2005.1583203

Nonlinear Vehicle Dynamics Control - a Flatness Based Approach. / Fuchshumer, Stefan; Schlacher, Kurt; Rittenschober, Thomas.
CD Proceedings 44th IEEE Conference on Decision and Control and the European Control Conference, CDC-ECC 2005. 2005. p. 6492-6497 1583203 (Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05; Vol. 2005).

Research output: Chapter in Book/Report/Conference proceeding › Conference proceedings › peer-review

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AU - Rittenschober, Thomas

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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.

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T3 - Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05

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Fuchshumer S, Schlacher K, Rittenschober T. Nonlinear Vehicle Dynamics Control - a Flatness Based Approach. In CD Proceedings 44th IEEE Conference on Decision and Control and the European Control Conference, CDC-ECC 2005. 2005. p. 6492-6497. 1583203. (Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05). doi: 10.1109/CDC.2005.1583203

Nonlinear Vehicle Dynamics Control - a Flatness Based Approach

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