NDLI: Wheel independent-drive control based on dynamic tire LuGre friction model

Content Provider	IEEE Xplore Digital Library
Author	Ruan Jiuhong Yang Fuguang Qiu Xuyun Li Yibin
Copyright Year	2008
Description	Author affiliation: Adv. Vehicle & Robot Inst., Shandong Jiaotong Univ., Jinan (Ruan Jiuhong; Yang Fuguang; Qiu Xuyun)
Abstract	As a key of high capability mobile platform, wheel independent-drive control is studied by using the dynamic tire LuGre friction model and active disturbance rejection control (ADRC) method. Firstly, the wheel independent-drive mathematic model was given and the dynamic tire LuGre friction model was briefly introduced. Then the control objective was analyzed, and the control system structure and the ADRC controller were designed. At last, the independent-drive control simulations under the expected constant and dynamic longitudinal slip were done. The results show that the ADRC controller, which designed based on dynamic tire LuGre friction model, can implement high precision and strong robust control effect.
Starting Page	441
Ending Page	445
File Size	464163
Page Count	5
File Format	PDF
ISBN	9787900719706
DOI	10.1109/CHICC.2008.4605668
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-07-16
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute Of Intelligence M&C Technical Of KMUST
Subject Keyword	Wheel independent-drive Friction Wheels Tires Drive control Electronic mail Active Disturbance Rejection Control Dynamic LuGre friction model Noise measurement Longitudinal slip Vehicle dynamics Vehicles
Content Type	Text
Resource Type	Article

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