Differential flatness of a front-steered vehicle with tire force control

Author

Peters, Steven C. ; Frazzoli, Emilio ; Iagnemma, Karl

Author_Institution

Dept. of Mech. Eng., Massachusetts Inst. of Technol., Cambridge, MA, USA

fYear

2011

fDate

25-30 Sept. 2011

Firstpage

298

Lastpage

304

Abstract

A trajectory tracking controller based on differential flatness is presented for a nonlinear bicycle model. This controller maps the bicycle dynamics into a point mass located at a center of oscillation with an additional degree of freedom of yaw dynamics. A state transformation is performed that reveals structure in the yaw dynamics resembling a Lie??nard system. A candidate Lyapunov function inspired by this structure is used to assess the stability of the yaw dynamics while tracking straight-line trajectories and steady turns. The basin of attraction of the controller is limited by actuator constraints and the presence of unstable equilibrium points during turns with high lateral acceleration. The controller properties and the stability of yaw dynamics are demonstrated in simulation.

Keywords

Lyapunov methods; acceleration control; bicycles; force control; nonlinear control systems; position control; road vehicles; stability; tyres; vehicle dynamics; Lienard system; Lyapunov function; actuator constraint; bicycle dynamics; differential flatness; front-steered vehicle; lateral acceleration; nonlinear bicycle model; straight-line trajectory; tire force control; trajectory tracking controller; yaw dynamics stability; Bicycles; Dynamics; Stability analysis; Tires; Trajectory; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on

Conference_Location

San Francisco, CA

ISSN

2153-0858

Print_ISBN

978-1-61284-454-1

Type

conf

DOI

10.1109/IROS.2011.6094800

Filename

6094800