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

27 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

Access to Document

10.1076/vesd.36.4.255.3551

Cite this

@article{00a9e30fec594e79af627ccced04a578,

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.",

year = "2001",

month = nov,

doi = "10.1076/vesd.36.4.255.3551",

language = "English (US)",

volume = "36",

pages = "255--277",

journal = "Vehicle System Dynamics",

issn = "0042-3114",

publisher = "Taylor and Francis Ltd.",

number = "4-5",

}

TY - JOUR

T1 - Robust scalable vehicle control via non-dimensional vehicle dynamics

AU - Brennan, S.

AU - Alleyne, A.

N1 - 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.

PY - 2001/11

Y1 - 2001/11

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.

UR - https://www.scopus.com/pages/publications/0035516427

UR - https://www.scopus.com/pages/publications/0035516427#tab=citedBy

U2 - 10.1076/vesd.36.4.255.3551

DO - 10.1076/vesd.36.4.255.3551

M3 - Article

AN - SCOPUS:0035516427

SN - 0042-3114

VL - 36

SP - 255

EP - 277

JO - Vehicle System Dynamics

JF - Vehicle System Dynamics

IS - 4-5

ER -

Robust scalable vehicle control via non-dimensional vehicle dynamics

Abstract

All Science Journal Classification (ASJC) codes

Access to Document

Other files and links

Fingerprint

Cite this