On Steady-State Cornering Equilibria for Wheeled Vehicles with Drift
Author(s)Velenis, Efstathios; Frazzoli, Emilio; Tsiotras, Panagiotis
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In this work we derive steady-state cornering conditions for a single-track vehicle model without restricting the operation of the tires to their linear region (i.e. allowing the vehicle to drift). For each steady-state equilibrium we calculate the corresponding tire friction forces at the front and rear tires, as well as the required front steering angle and front and rear wheel longitudinal slip, to maintain constant velocity, turning rate and vehicle sideslip angle. We design a linear controller that stabilizes the vehicle dynamics with respect to the steady-state cornering equilibria using longitudinal slip at the front and the rear wheels as the control inputs. The wheel torques necessary to maintain the given equilibria are calculated and a sliding-mode controller is proposed to stabilize the vehicle using only front and rear wheel torques as control inputs.
DepartmentMassachusetts Institute of Technology. Department of Aeronautics and Astronautics
Proceedings of the 48th IEEE Conference on Decision and Control
Institute of Electrical and Electronics Engineers
Velenis, Efstathios, Emilio Frazzoli, and Panagiotis Tsiotras. “On steady-state cornering equilibria for wheeled vehicles with drift.” Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on. 2009. 3545-3550.