Autonomy in nonlinear systems relies heavily on an intelligent planner, robust enough under changing uncertainty measures, transients, and chaotic behavior in state space. This robustness is mainly achieved through system predictability control. In particular, an autonomous vehicle on a nonrandomly irregular terrain, is considered. The objective is to determine periodic, quasi-periodic and/or chaotic behavior with the transients of nonlinear vibrations of a vehicle model over nonrandom road irregularities. The vehicle includes nonlinear components such as tires, dampers and springs. The nonlinear system is analyzed from the different perspectives of: sensitivity to initial conditions, Fourier transform and power spectra, Lyapunov exponents, attractors with their dimensions, and stability. Fractal sets as convergence maps are also drawn to detect and avoid any chaotic behavior. A stable-singularity dispersion map is developed based on the theoretical concept of Julia sets and analyzed within fractal set theory.


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    Title :

    Chaotic dynamic analysis of a vehicle model over road irregularities


    Additional title:

    Chaotische dynamische Analyse eines Fahrzeugmodells bei Straßenirregularitäten


    Contributors:
    Ileri, L. (author) / Karaesmen, E. (author) / Erkmen, A.M. (author)


    Publication date :

    1990


    Size :

    7 Seiten, 19 Quellen



    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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