NDLI: Control allocation of all-wheel drive vehicles: A longitudinal model

Content Provider	IEEE Xplore Digital Library
Author	Stern, A. Shiller, Z.
Copyright Year	2013
Description	Author affiliation: Dept. of Mech. Eng. & Mechatron., Ariel Univ., Ariel, Israel (Stern, A.; Shiller, Z.)
Abstract	This paper offers a method to compute the control inputs for an all-wheel drive vehicle that moves along a specified path on rough terrain. The focus of this paper is on longitudinal motion only, using a half-car model with no suspensions. For a given path, we first compute the range of the admissible speeds and accelerations at every point along the path, subject to vehicle dynamics and constraints on the wheel/ground forces. A feasible velocity profile along the path is then computed to respect the admissible speeds and accelerations and satisfy given boundary conditions. While the velocity profile represents the accelerations of the center of mass, it remains to determine the control inputs (torques) for the two independent wheels. The challenge stems from the longitudinal model being an indeterminate system, having two control inputs but only one degree-of-freedom along the specified path. This inherent indeterminacy is resolved by adding a virtual suspension to the rigid vehicle model, which allows to explicitly compute the two individual wheel torques. The method is demonstrated for a vehicle moving at the time optimal speeds over a bump. A dynamic simulation of the vehicle with a stiff suspension shows that the two wheels maintain contact with the ground at all times, despite moving at the ultimate speeds. It is also shown that the all-wheel-drive model produces a larger set of admissible speeds and accelerations, and hence results in faster speeds and shorter motion times than the single drive (front or rear) model.
Sponsorship	IEEE Ind. Electron. Soc.
Starting Page	2862
Ending Page	2867
File Size	1759416
Page Count	6
File Format	PDF
ISSN	21530858
DOI	10.1109/IROS.2013.6696761
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-11-03
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vehicles Wheels Acceleration Mathematical model Computational modeling Suspensions Force
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Wheel-soil interaction model for rover simulation based on plasticity theory

Motion planning and control for a tethered, rimless wheel differential drive vehicle

Longitudinal wheel-slip control for four wheel independent steering and drive vehicles

A novel approach for steering wheel synchronization with velocity/acceleration limits and mechanical constraints

Collaborative stereo

Wheeled inverted-pendulum-type personal mobility robot with collaborative control of seat slider and leg wheels

Passive dynamic walking of rimless wheel with 2-DOF wobbling mass

Piecewise affine control for fast unmanned ground vehicles

Consistent Pile-shape quantification for autonomous wheel loaders

Control allocation of all-wheel drive vehicles: A longitudinal model

Similar Documents

Wheel-soil interaction model for rover simulation based on plasticity theory

Motion planning and control for a tethered, rimless wheel differential drive vehicle

Longitudinal wheel-slip control for four wheel independent steering and drive vehicles

A novel approach for steering wheel synchronization with velocity/acceleration limits and mechanical constraints

Collaborative stereo

Wheeled inverted-pendulum-type personal mobility robot with collaborative control of seat slider and leg wheels

Passive dynamic walking of rimless wheel with 2-DOF wobbling mass

Piecewise affine control for fast unmanned ground vehicles

Consistent Pile-shape quantification for autonomous wheel loaders

Control allocation of all-wheel drive vehicles: A longitudinal model