Robust scalable vehicle control via non-dimensional vehicle dynamics

S. Brennan; A. Alleyne

doi:10.1076/vesd.36.4.255.3551

Robust scalable vehicle control via non-dimensional vehicle dynamics

S. Brennan, A. Alleyne

Research output: Contribution to journal › Article › peer-review

26 Scopus citations

Abstract

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

Original language	English (US)
Pages (from-to)	255-277
Number of pages	23
Journal	Vehicle System Dynamics
Volume	36
Issue number	4-5
DOIs	https://doi.org/10.1076/vesd.36.4.255.3551
State	Published - Nov 2001

All Science Journal Classification (ASJC) codes

Automotive Engineering
Safety, Risk, Reliability and Quality
Mechanical Engineering

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10.1076/vesd.36.4.255.3551

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title = "Robust scalable vehicle control via non-dimensional vehicle dynamics",

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

author = "S. Brennan and A. Alleyne",

note = "Funding Information: The authors wish to express their sincere gratitude to NSF for providing the opportunity to conduct this research through a NSF Graduate Fellowship. In addition, the authors wish to thank David Lynch for his assistance in conducting vehicle tests. Copyright: Copyright 2005 Elsevier Science B.V., Amsterdam. All rights reserved.",

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AU - Alleyne, A.

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N2 - A temporal and spatial re-parameterization of the linear vehicle Bicycle Model is presented utilizing non-dimensional ratios of vehicle parameters called π-groups. Investigation of the π-groups using compiled data from 44 published sets of Vehicle Dynamics reveals a normal distribution about a line through π-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 π-space line and the expected π-perturbations to robustly stabilize all vehicles encompassed by the normal distribution of vehicle parameters. Experimental verification is obtained using a scaled vehicle.

AB - A temporal and spatial re-parameterization of the linear vehicle Bicycle Model is presented utilizing non-dimensional ratios of vehicle parameters called π-groups. Investigation of the π-groups using compiled data from 44 published sets of Vehicle Dynamics reveals a normal distribution about a line through π-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 π-space line and the expected π-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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Robust scalable vehicle control via non-dimensional vehicle dynamics

Abstract

All Science Journal Classification (ASJC) codes

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