Title :
A nonlinear stability controller for rear wheel driven vehicles
Author :
Rosiglioni, Alessandro ; Drakunov, Sergey V.
Author_Institution :
EECS Dept., Tulane Univ., New Orleans, LA, USA
Abstract :
In this paper, we suggest a robust controller which maintains "no-skid" while following a separate control goal. The system description is based on a bicycle model in which the no-slip condition is represented as a set of four non-holonomic constraints and each constraint defines a sliding manifold.
Keywords :
nonlinear control systems; road vehicles; robust control; bicycle model; car model; nonholonomic constraints; nonlinear stability controller; rear wheel driven vehicles; robust controller; sliding manifold; Angular velocity; Bicycles; Equations; Force control; Sliding mode control; Stability; Vehicle driving; Vehicle dynamics; Vehicles; Wheels;
Conference_Titel :
Decision and Control, 2002, Proceedings of the 41st IEEE Conference on
Print_ISBN :
0-7803-7516-5
DOI :
10.1109/CDC.2002.1184618
