A temporal and spatial re-parameterization of the linear vehicle Bicycle Model is presented utilizing non-dimensional ratios of vehicle parameters called p-groups. Investigation of the p-groups using compiled data from 44 published sets of Vehicle Dynamics reveals a normal distribution about a line through p-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 p-space line and the expected p-perturbations to robustly stabilize all vehicles encompassed by the normal distribution of vehicle parameters. Experimental verification is obtained using a scaled vehicle.


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    Titel :

    Robust Scalable Vehicle Control via Non-Dimensional Vehicle Dynamics


    Beteiligte:
    Brennan, S. (Autor:in) / Alleyne, A. (Autor:in)

    Erschienen in:

    Vehicle System Dynamics ; 36 , 4-5 ; 255-277


    Erscheinungsdatum :

    01.11.2001




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Unbekannt



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