DocumentCode
2712338
Title
Comparison of steering geometries for multi-wheeled vehicles by modelling and simulation
Author
Colyer, R.E. ; Economou, J.T.
Author_Institution
Dept. of Aerosp., Power & Sensors, Cranfield Univ., Swindon, UK
Volume
3
fYear
1998
fDate
1998
Firstpage
3131
Abstract
This paper examines and compares two commonly used steering geometries, the Ackermann and skid steering, using mathematical models formulated in a nonlinear state space form. For the skid-steering case, a steering mapping technique has been developed, which allows transformation of the inputs from a steering voltage and voltage forward demand to appropriate wheel actuator voltages. A comparison of the two models is then made using a heuristic mapping algorithm
Keywords
electric actuators; nonlinear systems; position control; state-space methods; three-term control; vehicles; voltage control; Ackermann steering; PID controller; electric actuator; heuristic mapping algorithm; mathematical models; modelling; multiple wheeled vehicles; nonlinear systems; simulation; skid steering; state space; voltage control; Actuators; Geometry; Heuristic algorithms; Nonlinear equations; Samarium; Solid modeling; State-space methods; Vehicles; Voltage; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1998. Proceedings of the 37th IEEE Conference on
Conference_Location
Tampa, FL
ISSN
0191-2216
Print_ISBN
0-7803-4394-8
Type
conf
DOI
10.1109/CDC.1998.757992
Filename
757992
Link To Document