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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    Title :

    Robust Scalable Vehicle Control via Non-Dimensional Vehicle Dynamics


    Contributors:
    Brennan, S. (author) / Alleyne, A. (author)

    Published in:

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


    Publication date :

    2001-11-01




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown



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